Finite-time Tracking for Robot Manipulators with Continuous Control

Abstract

Terminal attractors are introduced in dynamic sliding mode error coordinates in order to obtain two control schemes for robot manipulators that guarantee finite-time convergence of tracking errors. The simple passivity-based design yields continuous controllers with singularity-free closed-loop dynamics. Robustness to a class of bounded disturbance and complex friction models are discussed. Simulation data show the performance of the controllers.