Robust Finite-Time Motion/Force Control for Constrained Robots

Abstract

This paper studies the finite-time simultaneous motion and force tracking control for constrained robotic manipulators with external disturbances and robotic modelling uncertainties. A robust finite-time motion/force control scheme is proposed using an expansion of terminal sliding mode including the motion tracking error and constraint force tracking error. Compared with conventional motion/force control methods, the proposed controller can make the motion tracking error and the force tracking error both converge to zero in finite time. Simulation results for a two-link constrained manipulator are presented to validate the analysis.

Key Words:

• Finite time control
• motion/force control
• terminal sliding mode
• robust control