Finite-time tracking for robot manipulators with singularity-free continuous control: a passivity-based approach

Terminal attractors are introduced in dynamic sliding mode error coordinates in order to obtain two control schemes for robot manipulators that guarantee globally finite-time convergence of tracking errors. The simple passivity-based design yields a chattering-free controller with singularity-free closed-loop dynamics. The controllers render better stability properties in comparison to an ill-posed class of static terminal sliding mode control, with simpler control structures in comparison to a class of dynamic sliding mode controllers. Simulation data show the performance of the controllers.