The objective of this work is to propose new families of finite‐time controllers providing bounded and unbounded control signals. We show that this new family of controllers can be applied to solve the regulation problem for robot manipulators in finite‐time with unbounded and bounded torques. The key idea to accomplish this objective is to propose a novel family of Lyapunov functions, which is more suitable for designing finite‐time regulators for robot manipulators. The efficacy of these controllers, compared with other schemes, is illustrated by a simulation example, which shows that the proposed controllers are a good alternative to solve the finite‐time regulation problem for robot manipulators.

中文翻译：

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基于李雅普诺夫的机器人操纵器有限时间控制

这项工作的目的是提出新的有限时间控制器家族，它们提供有界和无界的控制信号。我们证明了这种新的控制器家族可用于解决无限制和无限制转矩的机器人限速器的调节问题。实现此目标的关键思想是提出一个新颖的Lyapunov函数系列，它更适合于设计机器人操纵器的限时调节器。通过仿真示例说明了这些控制器与其他方案相比的功效，这表明所提出的控制器是解决机器人操纵器的有限时间调节问题的理想选择。