Distributed bounded finite‐time cooperative control algorithm for multiple nonlinear manipulators

Abstract

Abstract For the position synchronization control problem of multiple nonlinear manipulator systems, a bounded distributed cooperative controller is designed in this paper. Based on a fixed‐time position observer, a distributed finite‐time synchronization controller is designed by using the saturated control technique and homogenous system theory. Compared with the existing results, the proposed distributed cooperative control algorithm not only guarantees finite‐time convergence but also satisfies the input saturation. Finally, some numerical simulation results are presented to verify the feasibility of the theory results with six‐degree‐of‐freedom robots.