Robust Finite Time Control of Robot Manipulators Using Time Delay Estimation Technique

Abstract

In this paper, a robust finite time control scheme is introduced for trajectory tracking of robot manipulators based on a new sliding mode control (SMC) and time delay estimation (TDE) technique. The suggested control scheme is independent of the robot dynamics, and the upper and lower bounds of the inertia matrix are enough to design the controller. To confirm this claim, at first the boundedness of the TDE errors is analyzed by Lyapunov-Krasovskii approach. Next, a dual terminal SMC (DTSMC) based on TDE is proposed to achieve desirable tracking performance and fast finite convergence time. Meanwhile, the stability of the closed-loop system with the proposed control algorithm is investigated through the Lyapunov method by choosing the appropriate sliding surface. Finally, the effectiveness of the proposed control scheme is shown by some simulations as well as comparing with other types of TDE based SMC schemes.