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Invoking the two proposed controllers, the unknown bounded external disturbances can be compensated and the global asymptotical stability with respect to the manipulator positions and velocities is able to be guaranteed. As compared with the existing adaptive PD control methods, the designed control laws can enlarge the tolerable external disturbances, enhance the accuracy in finite-time trajectory tracking control, and improve the dynamic performance of the manipulator systems. The stability and convergence properties of the closed-loop system are analytically proved using Lyapunov stability theory and Barbalat's lemma. 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