Finite-Time Position Control of Robotic Manipulators

Abstract

In this paper we offer the position controller of robotic manipulators subject to finite-time convergence. The feedback controller is an extension of the traditional PD control of robotic manipulators. Furthermore, we introduce a continuous function to smooth the control law and the proposed controller is absolutely continuous. The numerical simulation results carried out for a two-link robotic manipulator illustrate performance of the proposed controller.