A Simple Bounded Output Feedback Finite-time Regulator for Robot Manipulators Under Actuator Saturations
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A simple bounded output feedback PD plus gravity compensation (PD+) regulator is presented for global finite-time stabilization of robot manipulators subject to actuator saturations. Lyapunov stability theory and geometric homogeneity technique are used to prove the global finite-time stability. Advantages of the presented regulator are the easy implementation and global finite-time stabilization with an ability to guarantee actuator torques within their prescribed constraints by selecting control gains a priori, regardless the initial conditions. Simulations results verify the improved performance of the proposed control scheme.
