Adaptive finite-time tracking control of rigid manipulators

By combining adaptive control method, non-singular terminal sliding mode control method, and the finite-time Lyapunov method, an adaptive terminal sliding mode tracking control algorithm, which is suitable for a class of rigid manipulators with model uncertainties and external disturbances, is proposed in this paper. This control strategy avoids the singularity problem and the stagnation behavior confronted by the traditional terminal sliding mode control algorithm. The convergence time is also estimated by using the finite-time Lyapunov stability analysis. The simulation results show the effectiveness of the proposed algorithm.