Distributed bounded finite-time cooperative control algorithm for multiple nonlinear manipulators

For the position synchronization control problem of multiple nonlinear manipulator systems, a bounded distributed cooperative controller is designed in this paper. Based on a fixed-time position observer, a distributed finite-time synchronization controller is designed by using the saturated control technique and homogenous system theory. Compared with the existing results, the proposed distributed cooperative control algorithm not only guarantees finite-time convergence but also satisfies the input saturation. Finally, some numerical simulation results are presented to verify the feasibility of the theory results with six-degree-of-freedom robots.