Global finite-time regulation of robot manipulators using only position measurements

Abstract

In the paper, we consider the problem of global finite-time regulation of robot manipulators with position measurements only. A simple nonlinear filter is proposed to replace the joint velocity measurements. A nonlinear proportional-derivative plus gravity compensation is constructed. Global finite-time stability is proved using Lyapunov stability theory and a geometric homogeneity technique. The benefits of the proposed control are the ease of implementation and global finite-time stability without joint velocity measurements. Simulations and experimental results are presented to verify the expected performance of the proposed approach.