A novel finite-time non-singular robust control for robotic manipulators

Jinfeng Gao, Zhonghao Tan, Lebao Li, Guoqiang Jia and Peter Xiaoping Liu

Chaos, Solitons & Fractals, 2025, vol. 194, issue C

Abstract: Robotic manipulators have been extensively used in the area of industry, agriculture, and medicine. Parameter uncertainties and external complex disturbances both bring challenges in achieving finite-time high precision control of robotic manipulators. This study addresses the finite-time non-singular robust control problem of robotic manipulators with parameter variations and external complex disturbances. To enable the tracking error of robotic manipulator system with uncertainties to converge within finite time, a novel finite-time non-singular robust control (NFNRC) approach is proposed. To make the tracking error of robotic manipulator system have faster convergence rate, we design a new nonlinear term in the robust control function. With Lyapunov stability theorem, the finite-time stability of the robotic manipulator system is ensured. Performance comparisons with non-singular terminal sliding mode control (NTSM) and sliding mode control (SMC) are studied on a nonlinear robotic manipulator system. The results validate the efficacy of the designed robotic manipulator control scheme.

Keywords: Robotic manipulators; Uncertainties; Finite-time; Robust control (search for similar items in EconPapers)
Date: 2025
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Persistent link: https://EconPapers.repec.org/RePEc:eee:chsofr:v:194:y:2025:i:c:s0960077925002796

DOI: 10.1016/j.chaos.2025.116266

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