Finite Time Tracking Control of Uncertain Robotic Manipulator with Unknown Disturbance

Stability with finite-time convergence rate has been recently studied and applied for various systems. It guarantees that the system is not only stable but also it has the settling time as small as expected. This improves the control performance of the system. In this paper, fixed-time and arbitrary-time tracking controllers are designed for a class of uncertain robotic systems with input disturbance. Some numerical simulations with twolink manipulator were taken to verify the proposed controllers and compare them. It can be concluded that the fixed-time controller provided better performance than the other ones in term of overshoot and control signal.