Global finite-time cooperative control for multiplemanipulators using integral sliding mode control

In this paper, a global finite-time cooperative control is first time proposed for cooperative multiple manipulators. The proposed control scheme is developed based on an integration between a finite-time disturbance observer (FTDO) and a finite-time integral sliding mode controller (FTISMC) to get a high robustness against the effects of the model uncertainties and disturbances in the system. The switching term of the integral sliding mode controller is reconstructed such that the desired sliding manifold can be convergent in a finite time. The nominal controller of the integral sliding mode control is developed based on an advanced backstepping control, namely, finite-time backstepping control, which also provides a finite time convergence. The integration of the finite-time disturbance observer, finite-time switching term, and the finite-time backstepping controller forms a new global finite-time integral sliding mode control. The effectiveness of the proposed approach is demonstrated based on a cooperative control of a dual two-link manipulators.