Finite-Time Nonlinear <i>H_∞ </i> Control of Robot Manipulators With Prescribed Performance

This letter addresses the problem of robust finite-time tracking control with prescribed performance for robot manipulators experiencing uncertain inertia and external disturbance. We develop a strategy that incorporates nonlinear $\boldsymbol {\mathcal {H}_{\infty }}$ concept into backstepping approach, using novel virtual control, to guarantee practical convergence trajectory, whilst closed-loop {L}_{2}}$ gain is less than pre-specified value. also use adaptive gains, instead complex error transformations (common in controllers), simultaneously impose constraints on steady-state transient response closed-loop, including maximum error, overshoot, minimum rate. The developed controller not contingent solving Hamilton-Jacobi or Riccati equations free singularities associated fractional power control. efficacy proposed framework are demonstrated through simulation studies comparisons pertinent works.