Robust control for robotic manipulators with non-smooth strategy

In this paper, a novel non-smooth robust control approach is presented for robotic manipulators. By using decimal power rule in Lyapunov redesign methods, the conventional robust control for robot is improved. Our approach can achieve higher control precision with faster convergence speed. The formulations of estimating residual set and settling time have been initially established. The practical stability property is analyzed. An illustrative example is bench tested to validate the effectiveness of the proposed approach.