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.

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This paper investigates the finite-time tracking control problem for rigid manipulator systems. The proposed controller is based on adding a power integrator technique, which guarantees global finite-time convergence of tracking errors. Compared with the backstepping control scheme, the proposed control scheme provides a faster convergence rate for the tracking error system. Simulation results show the effectiveness of the proposed control scheme.