Global finite-time tracking control for rigid manipulators based on adding a power integrator

Abstract

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.