A novel finite-time non-singular robust control for robotic manipulators

Abstract

Robotic manipulators have been extensively used in the area of industry, agriculture, and medicine. Parameter uncertainties and external complex disturbances both bring challenges in achieving finite-time high precision control of robotic manipulators. This study addresses the finite-time non-singular robust control problem of robotic manipulators with parameter variations and external complex disturbances. To enable the tracking error of robotic manipulator system with uncertainties to converge within finite time, a novel finite-time non-singular robust control (NFNRC) approach is proposed. To make the tracking error of robotic manipulator system have faster convergence rate, we design a new nonlinear term in the robust control function. With Lyapunov stability theorem, the finite-time stability of the robotic manipulator system is ensured. Performance comparisons with non-singular terminal sliding mode control (NTSM) and sliding mode control (SMC) are studied on a nonlinear robotic manipulator system. The results validate the efficacy of the designed robotic manipulator control scheme.