Generalized Continuous Control Design for the Finite-Time Regulation of Robot Manipulators with Bounded Inputs

Abstract

This work presents a generalized continuous control design method for the finite-time regulation of robot manipulators with bounded inputs. Compared to previous approaches, the extended methodology permits the design of proportional-derivative type actions that are not totally or partially identical to well-known homogeneous functions. For instance, input saturation avoidance can be achieved by involving non-homogeneous sigmoidal functions, such as the hyperbolic tangent. Simulation tests showing the applicability of the proposed design method and the achievement of the considered control objective are included.