Robust finite-time control approach for robotic manipulators

In this study, a new robust finite-time stability control approach for robot systems is developed based on finite-time Lyapunov stability principle and proved with backstepping method. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying design issues as well as safe operation for real systems. A case study of a two-link robot model is presented to demonstrate the effectiveness of the proposed approach.