Finite-time convergent sliding mode controllers for robot manipulators

Abstract

The problem of robust finite-time controller designs of robot manipulator is studied in this paper. Two finite-time sliding mode controllers are developed to deal with tracking control of robot manipulators. The proposed control laws are designed by using terminal sliding mode and fast terminal sliding mode control algorithms which are able to guarantee finite-time reachability of a given desired tracking motion of robot manipulators. By using the second method of Lyapunov, stability of the closed-loop system can be achieved in finite time. An example of a robot tracking system is presented and simulation results are provided to demonstrate and verify the usefulness of the developed controllers. Mathematics Subject Classification: 93D05; 93D09; 49K99