A New Finite-Time Control of Rigid Manipulator with FTSMC Approach

摘要

This paper investigates the finite-time trajectory tracking control problem for rigid robotic manipulators. The objective is to control all the links of rigid manipulators to converge into the desired form of motion in a finite time respectively. Based on the finite-time control technique, a new motion tracking control law, which is suitable for a class of rigid manipulators with model uncertainties and external disturbances, is proposed using the fast terminal sliding mode control (FTSMC) scheme. The proposed method can drive the system states reach zero without requiring the explicit dynamic model. Rigorous proof is given by using Lyapunov and matrix theory. Simulation results are presented to validate the effectiveness of our theoretical analysis.