IDEAS home Printed from https://ideas.repec.org/a/eee/chsofr/v194y2025ics0960077925002796.html
   My bibliography  Save this article

A novel finite-time non-singular robust control for robotic manipulators

Author

Listed:
  • Gao, Jinfeng
  • Tan, Zhonghao
  • Li, Lebao
  • Jia, Guoqiang
  • Liu, Peter Xiaoping

Abstract

Robotic manipulators have been extensively used in the area of industry, agriculture, and medicine. Parameter uncertainties and external complex disturbances both bring challenges in achieving finite-time high precision control of robotic manipulators. This study addresses the finite-time non-singular robust control problem of robotic manipulators with parameter variations and external complex disturbances. To enable the tracking error of robotic manipulator system with uncertainties to converge within finite time, a novel finite-time non-singular robust control (NFNRC) approach is proposed. To make the tracking error of robotic manipulator system have faster convergence rate, we design a new nonlinear term in the robust control function. With Lyapunov stability theorem, the finite-time stability of the robotic manipulator system is ensured. Performance comparisons with non-singular terminal sliding mode control (NTSM) and sliding mode control (SMC) are studied on a nonlinear robotic manipulator system. The results validate the efficacy of the designed robotic manipulator control scheme.

Suggested Citation

  • Gao, Jinfeng & Tan, Zhonghao & Li, Lebao & Jia, Guoqiang & Liu, Peter Xiaoping, 2025. "A novel finite-time non-singular robust control for robotic manipulators," Chaos, Solitons & Fractals, Elsevier, vol. 194(C).
    • Handle: RePEc:eee:chsofr:v:194:y:2025:i:c:s0960077925002796
    DOI: 10.1016/j.chaos.2025.116266
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S0960077925002796
    Download Restriction: Full text for ScienceDirect subscribers only
    File URL: https://libkey.io/10.1016/j.chaos.2025.116266?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:eee:chsofr:v:194:y:2025:i:c:s0960077925002796. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Thayer, Thomas R. (email available below). General contact details of provider: https://www.journals.elsevier.com/chaos-solitons-and-fractals .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.