Adaptive trajectory tracking control with finite-time stability for robot manipulators

We propose an adaptive control method with a finitetime convergence rate for the trajectory tracking control problem in robot manipulators. We extend Slotine and Li´s conventional adaptive control method for robot manipulators and compare the convergence rates through simulation with one- and two-link manipulators. We also compare the convergence rates through experiments with a one-link manipulator. Both results show that the proposed method converges more quickly than Slotine and Li´s method.