Quasi-Finite-Time Control of Antagonistic Actuated Robots Using Mapping Filtered Forwarding Techniques - Quasi-Finite-Time Control

@article{Zhang2017QuasiFiniteTimeCO,
  title={Quasi-Finite-Time Control of Antagonistic Actuated Robots Using Mapping Filtered Forwarding Techniques - Quasi-Finite-Time Control},
  author={Xu Zhang and Xianlin Huang and Hongqian Lu},
  journal={Journal of Intelligent and Robotic Systems},
  year={2017},
  volume={86},
  pages={49-62}
}
This study mainly focuses on designing a quasi-finite-time tracking control law to improve the dynamic performance for a lightweight tendon-driven joint. The mass of the link and viscous torques of lightweight arms are neglected in the dynamic model. Unlike the traditionally exponentially stabilizing control methods, joint angle is able to reach the desired… CONTINUE READING