Finite-Time Output Robust Control for Restricted Joint Flight Emulator Robotic Arm With Adaptive Tangent Barrier Gains by Isaac Chairez, Alejandra Hernandez-Sanchez, Caridad Mireles, Arthur Mukhamedov, Grigory Bugriy, Stepan Lemak, Viktor Chertopolokhov

“…A convex optimization technique based on matrix inequalities enhances the controller’s convergence rate. Given the complete forward characteristic of the recommended manipulation device, a finite-time convergent super-twisting-based differentiator may be employed to conduct the output feedback of the proposed controller specifically. …”
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