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Theoretical analysis of finite-time PD control for robot manipulators

We propose PD control with a finite-time convergence rate for the position control problem in robot manipulators. The control is an extension of the conventional linear PD control for robot manipulators. Theoretical analysis showed that the desired position is finite-time stable. Simulations with a two-link manipulator showed that the proposed method achieves higher convergence rate and accuracy than the conventional method.