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Mathematical Problems in Engineering
Volume 2016, Article ID 2034795, 12 pages
Research Article

Disturbance Compensation Based Finite-Time Tracking Control of Rigid Manipulator

1School of Automation, Southeast University, Nanjing 210096, China
2Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, China
3Faculty of Engineering, Blue Nile University, P.O. Box 143, Ar-Rossieres, Blue Nile, Sudan

Received 19 October 2015; Accepted 15 December 2015

Academic Editor: Ricardo Aguilar-López

Copyright © 2016 Mohamed Elamin Sahabi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The finite-time tracking control problem of rigid manipulator system with mismatched disturbances is investigated via a composite control method. The proposed composite controller is based on finite-time disturbance observer and adding a power integrator technique. First, a finite-time disturbance observer is designed which guarantees that the disturbances can be estimated in a finite time. Then, a composite controller is developed based on adding a power integrator approach and the estimates of the disturbances. Under the proposed composite controller, the manipulator position can track the desired position in a finite time. Simulation results show the effectiveness of the proposed control scheme.