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Prescribed-time control algorithm: application to a two-link robot arm

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  • M. Hernandez-Gonzalez

Abstract

This paper proposes a prescribed-time controller that stabilises a single-input single-output first- and an n-order systems. The proposed prescribed-time controller employs a logarithm function in its design, its convergence time is defined by the user, is independent of initial conditions and any other system parameters. The controller is first developed for a first-order system, then for a second- and an n-order systems. In case an external disturbance is present, a sign function through an integral action is employed to reject it. Under minor modifications, the developed controller for single-input single-output systems is extended to perturbed systems with multiple inputs and multiple outputs. The obtained results demonstrate that the proposed control algorithm drives the states to the origin in a prescribed time even in the presence of external disturbances and remain there for future times. A numerical simulation has been carried out on a two-link robot arm to show the effectiveness of the proposed control algorithm.

Suggested Citation

  • M. Hernandez-Gonzalez, 2025. "Prescribed-time control algorithm: application to a two-link robot arm," International Journal of Systems Science, Taylor & Francis Journals, vol. 56(10), pages 2263-2283, July.
    • Handle: RePEc:taf:tsysxx:v:56:y:2025:i:10:p:2263-2283
    DOI: 10.1080/00207721.2024.2444683
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