ArticleSensors (Basel, Switzerland)2024
Time-Synchronized Convergence Control for n-DOF Robotic Manipulators with System Uncertainties.
Article in Sensors (Basel, Switzerland), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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Who cites it
3 citing papers in PubMed.
- Predefined-Time Super-Twisting Sliding Mode Control for Construction Robot with Arbitrary Initial Values.Sensors (Basel, Switzerland) · 2026Article
- Servo Collision Detection Control System Based on Robot Dynamics.Sensors (Basel, Switzerland) · 2025Article
- Performance Recovery and Stability Analysis of Disturbance Observer Under Unmodeled Dynamics.Sensors (Basel, Switzerland) · 2024Article
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Authors and funding
5 authors.
Funding
Abstract
A time-synchronized (TS) convergence control method for robotic manipulators is proposed. Adversely to finite-time control, a notion of time-synchronization convergence is introduced based on the ratio persistence property, which can ensure that all system components converge simultaneously in a finite time. Firstly, a robust disturbance observer is constructed to be compatible with the time-synchronized control framework and precisely estimate system uncertainties. Furthermore, we design a (finite) time-synchronized controller to ensure that all states of the robotic manipulator simultaneously converge to an equilibrium point, irrespective of initial conditions. Stability analysis shows the feasibility of the proposed TS control method. At last, simulations are performed with a two-link rehabilitation robotic system, and the comparison results indicate its superiority.
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