Finite-time consensus control for multiple manipulators with unmodeled dynamics

Abstract

This paper is devoted to the finite-time control problem for multiple manipulators, where unmodeled dynamics is taken into consideration. An effective coordinated control strategy is introduced, under which distributed protocols with continuous feedbacks are proposed. By applying the homogeneous theory for stability analysis, it is proven that the multi-robot system can be globally finite-time stabilized through our protocols. Numerical simulations on four manipulators with two degrees of freedom are presented to validate the effectiveness of the control strategy.