Disturbance Compensation Based Finite-Time Tracking Control of Rigid Manipulator

Abstract

The finite-time tracking control problem of rigid manipulator system with mismatched disturbances is investigated via a composite control method. The proposed composite controller is based on finite-time disturbance observer and adding a power integrator technique. First, a finite-time disturbance observer is designed which guarantees that the disturbances can be estimated in a finite time. Then, a composite controller is developed based on adding a power integrator approach and the estimates of the disturbances. Under the proposed composite controller, the manipulator position can track the desired position in a finite time. Simulation results show the effectiveness of the proposed control scheme.