This article extends the finite-time control and stabilization of the paper “fractional-order adaptive back stepping control of robotic manipulators in the presence of model uncertainties and external disturbances” to voltage level control. In practical applications, bounded voltage is applied to the robot joint motors. This fact is presumed in designing the controller and analyzing the stability. It is proved that the controlled system is robust and BIBO stable. The uniformly boundedness of the joint angle tracking error is also validated utilizing the Lyapunov lemma. The presented approach is less conservative than the work presented by the aforementioned article, since it does not require any knowledge of the manipulator dynamic parameters and their upper bound. The experimental outcomes validate the acceptable functioning of the presented controller.

本文将论文“存在模型不确定性和外部干扰的机器人机械手的分数阶自适应反步控制”的有限时间控制和稳定扩展到电压电平控制。在实际应用中，有界电压应用于机器人关节电机。这个事实是在设计控制器和分析稳定性时假设的。证明了所控制的系统是鲁棒的，BIBO 是稳定的。关节角度跟踪误差的一致有界也使用李雅普诺夫引理进行验证。所提出的方法不如上述文章所提出的工作保守，因为它不需要任何机械手动态参数及其上限的知识。