A hybrid finite time variable structure controller for rigid robotic manipulators

In this paper, a global variable structure relay control scheme with finite time convergence is proposed for multi-link rigid robotic manipulator systems with uncertain dynamics. For general finite time variable structure controllers, the control signal may tend to infinity when the initial states of the system are in some specified areas, causing the singularity problem. This paper gives a design approach for finite time tracking control by using a relay control method so that the boundedness of the control signal is guaranteed and the singularity phenomenon is avoided