Settling time design for finite-time P-PI control and parameter tuning method

High precision position control and high speed control of the robot manipulators are fundamental and important control problems. The effectiveness of finite-time P-PI control was confirmed by end-effector position control of robot manipulators. However, a parameter tuning method has not been proposed to finite-time P-PI control. In this paper, we propose a parameter tuning method for a finite-P-PI controller. Moreover we show the effectiveness of the proposed parameter tuning method via application to robot manipulator control.