A finite time synergetic control scheme for robot manipulators

Abstract

A finite time synergetic control (FTSC) scheme which is synthesized with synergetic theory and a terminal attractor technique is proposed for controlling robot manipulators. Unlike conventional synergetic control (SC) or conventional sliding-mode control (SMC), the proposed control scheme has the characteristics of finite time convergence and chattering free phenomena. The Lyapunov stability method is adopted here to verify the stability of the controlled system. The proposed controller is then applied in the control of n-link robot manipulators. All the simulation results demonstrate the effectiveness and feasibility of the proposed control method. © 2011 Elsevier Ltd. All rights reserved.