Finite-Time Regulation of Robot Manipulators: an Energy Shaping Approach

Abstract

In this paper, we focus on the finite-time regulation problem of robot manipulators based on the energy shaping control technique. In this framework, the control laws to be designed are described by the gradient of suitable potential and dissipative artificial energy functions. We provide explicit sufficient conditions on such artificial energy functions that allows us to obtain different finite-time controllers. Basically, we extend the classical energy shaping design for asymptotic regulators to the finite-time regulation case.