Title :
Finite time stabilization of nonlinear affine systems application to robot manipulator
Author :
Mabrouk, W.B. ; Ben Njima, Chakib ; Garcia, Gaetan ; Messaoud, Hassani
Author_Institution :
Ecole Nat. d´Ing. de Monastir, Monastir, Tunisia
Abstract :
In this paper finite-time stabilization of nonlinear affine systems, is considered. We give a formula for a finite time stabilizing state feedback control law. Then the proposed method is applied to a robot manipulator system.
Keywords :
manipulators; nonlinear control systems; stability; state feedback; finite time stabilizing state feedback control law; nonlinear affine systems; robot manipulator; Manipulators;
Conference_Titel :
Communications, Computing and Control Applications (CCCA), 2011 International Conference on
Conference_Location :
Hammamet
Print_ISBN :
978-1-4244-9795-9
DOI :
10.1109/CCCA.2011.6031462
