摘要: A global relay switching control scheme with finite time convergence (FTC) is proposed for multi-joint rigid robotic manipulator systems with uncertain dynamics. For a general finite time controller, the control signals may tend to infinity in finite time when the initial states of the system are in some specified area, causing the singularity problem of the closed-loop system and finite escape. The design scheme for finite time tracking control uses a relay switching control method so that the boundedness of the control signal is guaranteed and the singularity phenomenon is avoided. The validity of our scheme is demonstrated by simulation results.