Robust finite-time tracking control for Euler–Lagrange systems with obstacle avoidance

This paper addresses the tracking control problem of Euler–Lagrange systems with external disturbances in an environment containing obstacles. Based on a novel sliding manifold, a new asymptotic tracking controller is proposed to ensure the tracking errors converge to zero as time goes to infinity. Moreover, based on a modified nonsingular terminal sliding manifold, a finite-time convergent control algorithm is also developed to make sure the tracking errors converge to a small bounded area near the origin in finite time. Through introducing collision avoidance functions into the sliding manifolds, both controllers can guarantee the obstacle avoidance. Moreover, the stability of the closed-loop systems and approaches free of local minima have been rigorously analyzed. Finally, numerical simulations are carried out to demonstrate the effectiveness of the proposed strategies.