A novel ultra-local model-based finite time synergetic robustness control for uncertain robotic manipulator

Abstract

A novel ultra-local model-based finite time synergetic robustness control (FSRC) is developed to ensure the tracking accuracy and strong robustness of trajectory tracking for uncertain robotic manipulator. The ultra-local model is first established for the uncertain robotic manipulator, with algebraic method which is used to estimate the uncertain part in real time. Then the manifold with finite time convergence and finite time dynamic evolution equation (DEE) are proposed to achieve the FSRC controller of uncertain robotic manipulator. Moreover, the Lyapunov functions are designed and used to verify that the proposed control can achieve the stable operation of uncertain robotic manipulator, furthermore, the explicit expression of the convergence time of uncertain robotic manipulator trajectory tracking control is derived. Finally, it was demonstrated through physical simulation experiments that the proposed control can achieve the fast and accurate robust control of trajectory tracking for uncertain robotic manipulator.