High precision control of robot manipulators via finite-time P-PI control

High precision position control of robot manipulators is a fundamental and important control problem. In this paper, we propose a homogeneous finite-time P-PI controller for joint angle control of robot manipulators, and then propose a finite-time P-PI controller for end-effector position control. Further, we prove that the proposed controllers guarantee finite-time stability if the desired position is a locally asymptotically stable equilibrium. Finally, we confirm the effectiveness of the proposed method by experiments.

I. Introduction

High precision position control of robot manipulators is a fundamental and important control problem. For single-joint position control, we have confirmed superior performance of nonlinear continuous finite-time control [1]. However, the control employed in [1] is more complicated than the conventional P-PI cascade control [2].