Finite-Time Trajectory Tracking Control for Rigid 3-DOF Manipulators With Disturbances

Abstract

This paper addresses the robust finite-time trajectory tracking control problem for a rigid three-degrees-of-freedom (3-DOFs) manipulator system, which is subject to model uncertainty and external disturbances. The disturbances are assumed to be upper bounded. The proposed method incorporates a finite-time velocity observer and a disturbance observer into the proposed nonlinear control scheme and the conditions of global finite-time stability are established. The global finite-time stability of the controlled system is proved by using the finite-time Lyapunov stability theory. Simulation results of a 3-DOF manipulator show that the trajectory tracking was achieved with a finite period of settling time.

Keywords

• Finite-time tracking
• global finite-time stability
• disturbance observer
• velocity observer