A Predefined‐Time L∞ Control of Robot Manipulators

ABSTRACT This paper is concerned with developing a new synthesis framework for a predefined‐time controller with respect to robot manipulators in the presence of external disturbances, by which predefined‐time stability and a finite ‐gain are ensured. We first develop a stabilizing controller by using the passivity properties of robot manipulators. Then, it is shown that the developed controller makes the state of the resulting closed‐loop system converge to zero within a predefined‐time when no uncertain element exists. Regarding the effectiveness of the developed controller for uncertain elements in robot manipulators, we show that the gain from the disturbance to the state of the closed‐loop system is bounded by a certain performance level . Finally, some experimental results are given to demonstrate the theoretical validity and the practical effectiveness of the overall proposed arguments in a comparative fashion.