Time-efficient control law for position tracking of robotic arm

This paper presents a time-efficient control law for the position tracking of single link robotic arm. The proposed control law can be modified or extended to use for other applications. Global asymptotic stability of the closed-loop is assured based on the Lyapunov function. Computer simulation and laboratory scale experimental results show that set-point tracking is fast compared to that of the standard PD controller. The control and output signals are oscillation free.