In this paper, we model a single-link robot arm as a stochastic nonlinear system by introducing stochastic white noise. We extend the fixed-time state-feedback control to this modeled system. The controller design employs a combination of the backstepping technique and the adding a power integrator approach. Based on this, a fixed-time state-feedback controller is derived, demonstrating the fixed-time stability of the closed-loop system. Ultimately, the effectiveness of the devised control scheme is demonstrated through simulation results.

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Fixed-Time Stabilization Control for Stochastic Single-Link Robot Arm Systems

  • Zhuosheng Kuang,
  • Zhicheng Wei,
  • Huifang Min

摘要

In this paper, we model a single-link robot arm as a stochastic nonlinear system by introducing stochastic white noise. We extend the fixed-time state-feedback control to this modeled system. The controller design employs a combination of the backstepping technique and the adding a power integrator approach. Based on this, a fixed-time state-feedback controller is derived, demonstrating the fixed-time stability of the closed-loop system. Ultimately, the effectiveness of the devised control scheme is demonstrated through simulation results.