GLOBAL FINITE-TIME POSITIONING OF ROBOT MANIPULATORS WITH BOUNDED INPUTS
This paper addresses the global finite-time positioning problem for robot manipulators in the presence of actuator constraints, and a very simple bounded proportional-derivative (PD) control plus desired gravity compensation is formulated as solution to this problem. The global finite-time stability of the closed-loop system is proved with Lyapunov’s direct method and finite-time stability theory. Simulations on a two-degrees-of-freedom (2-DOF) manipulator demonstrate the effectiveness of the proposed approach.