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A novel finite-time non-singular robust control for robotic manipulators

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  • Gao, Jinfeng
  • Tan, Zhonghao
  • Li, Lebao
  • Jia, Guoqiang
  • Liu, Peter Xiaoping

Abstract

Robotic manipulators have been extensively used in the area of industry, agriculture, and medicine. Parameter uncertainties and external complex disturbances both bring challenges in achieving finite-time high precision control of robotic manipulators. This study addresses the finite-time non-singular robust control problem of robotic manipulators with parameter variations and external complex disturbances. To enable the tracking error of robotic manipulator system with uncertainties to converge within finite time, a novel finite-time non-singular robust control (NFNRC) approach is proposed. To make the tracking error of robotic manipulator system have faster convergence rate, we design a new nonlinear term in the robust control function. With Lyapunov stability theorem, the finite-time stability of the robotic manipulator system is ensured. Performance comparisons with non-singular terminal sliding mode control (NTSM) and sliding mode control (SMC) are studied on a nonlinear robotic manipulator system. The results validate the efficacy of the designed robotic manipulator control scheme.

Suggested Citation

  • Gao, Jinfeng & Tan, Zhonghao & Li, Lebao & Jia, Guoqiang & Liu, Peter Xiaoping, 2025. "A novel finite-time non-singular robust control for robotic manipulators," Chaos, Solitons & Fractals, Elsevier, vol. 194(C).
    • Handle: RePEc:eee:chsofr:v:194:y:2025:i:c:s0960077925002796
    DOI: 10.1016/j.chaos.2025.116266
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    References listed on IDEAS

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    1. Znegui, Wafa & Gritli, Hassène & Belghith, Safya, 2020. "Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model," Chaos, Solitons & Fractals, Elsevier, vol. 130(C).
    2. He, Xinyi & Li, Xiaodi & Nieto, Juan J., 2021. "Finite-time stability and stabilization for time-varying systems," Chaos, Solitons & Fractals, Elsevier, vol. 148(C).
    3. Duan, Lian & Shi, Min & Huang, Chuangxia & Fang, Xianwen, 2021. "Synchronization in finite-/fixed-time of delayed diffusive complex-valued neural networks with discontinuous activations," Chaos, Solitons & Fractals, Elsevier, vol. 142(C).
    4. Gritli, Hassène & Belghith, Safya, 2017. "Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: Analysis of local bifurcations via the hybrid Poincaré map," Chaos, Solitons & Fractals, Elsevier, vol. 98(C), pages 72-87.
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