Lyapunov-based finite-time control of robot manipulators

The objective of this work is to propose new families of finite-time controllers providing bounded and unbounded control signals. We show that this new family of controllers can be applied to solve the regulation problem for robot manipulators in finite-time with unbounded and bounded torques. The key idea to accomplish this objective is to propose a novel family of Lyapunov functions, which is more suitable for designing finite-time regulators for robot manipulators. The efficacy of these controllers, compared with other schemes, is illustrated by a simulation example, which shows that the proposed controllers are a good alternative to solve the finite-time regulation problem for robot manipulators.