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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

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Tian-Li Li

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Open access Sep 2026

Finite-Time Tracking Control of Robotic Systems with Time-Varying Output Constraints

This paper investigates the finite-time-trajectory tracking control of a robotic manipulator subject to time-varying output constraints and unknown lumped disturbances consisting of model uncertainties and external forces. A novel finite-time integral barrier Lyapunov function (FT-IBLF) with an adjustable parameter is...

Li Ren, Dong-Sheng Ma, Song Liu et al. · 0 citations

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