Abstract The problem of finite-time trajectory tracking of robot manipulators with uncertain dynamics, external bounded disturbances, and bounded torque inputs is addressed in this paper. In order to achieve finite-time convergence a nonlinear control algorithm based on a second-order sliding mode controller in combination with nonsingular terminal sliding mode is proposed. The proposed controller also exploits the properties of the hyperbolic tangent function. As a result, the control algorithm generates a continuous bounded signal. In addition, the controller structure is simple since it does not require the knowledge of the robot dynamic model. Experimental results are provided to show the performance of the proposed control algorithm.

中文翻译：

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输入力矩有界刚性机器人的有限时间控制

摘要 本文解决了具有不确定动力学、外部有界干扰和有界扭矩输入的机器人机械手的有限时间轨迹跟踪问题。为了实现有限时间收敛，提出了一种基于二阶滑模控制器结合非奇异终端滑模的非线性控制算法。所提出的控制器还利用了双曲正切函数的特性。因此，控制算法会生成一个连续的有界信号。此外，控制器结构简单，因为它不需要机器人动力学模型的知识。实验结果显示了所提出的控制算法的性能。