Finite-Time Synchronous Control for Multiple Manipulators With Sensor Saturations and a Constant Reference

Abstract

This paper is devoted to the finite-time synchronous control problem for multiple manipulators subject to sensor saturations. An effective framework through defining a class of coordinated saturation functions is introduced, under which the distributed protocols with continuous feedbacks are constructed. By applying the homogeneous theory for stability analysis, it is proven that all the multiple manipulators converge to the target position in finite time without disturbances. In the presence of disturbances, it is shown that the position errors can reach a neighborhood of the origin in finite time. Numerical simulations on four robot manipulators with two degrees of freedom are presented to demonstrate the efficiency of our proposed protocols.