High precision control of robot manipulators via finite-time P-PI control

Abstract

High precision position control of robot manipulators is a fundamental and important control problem. In this paper, we propose a homogeneous finite-time P-PI controller for joint angle control of robot manipulators, and then propose a finite-time P-PI controller for end-effector position control. Further, we prove that the proposed controllers guarantee finite-time stability if the desired position is a locally asymptotically stable equilibrium. Finally, we confirm the effectiveness of the proposed method by experiments.