In this article, an innovative technique to design a robust finite-time state feedback controller for a class of uncertain robotic manipulators is proposed. This controller aims to converge the state variables of the system to a small bound around the origin in a finite time. The main innovation of this article is transforming the model of an uncertain robotic manipulator into a new time-varying form to achieve the finite-time boundedness criteria using asymptotic stability methods. First, based on prior knowledge about the upper bound of uncertainties and disturbances, an innovative finite-time sliding mode controller is designed. Then, the innovative finite-time sliding mode controller is developed for finite-time tracking of time-varying reference signals by the outputs of the system. Finally, the efficiency of the proposed control laws is illustrated for serial robotic manipulators with any number of links through numerical simulations, and it is compared with the nonsingular terminal sliding mode control method as one of the most powerful finite-time techniques.

在本文中，提出了一种创新的技术，用于为一类不确定的机械手设计鲁棒的有限时间状态反馈控制器。该控制器旨在在有限的时间内将系统的状态变量收敛到原点周围的小范围内。本文的主要创新是将不确定的机器人操纵器模型转换为新的时变形式，以使用渐近稳定性方法来达到有限时间有界性标准。首先，基于关于不确定性和扰动上限的先验知识，设计了一种创新的有限时间滑模控制器。然后，开发了创新的有限时间滑模控制器，用于通过系统的输出对时变参考信号进行有限时间跟踪。最后，