Global finite‐time cooperative control for multiple manipulators using integral sliding mode control

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