Modified Prescribed Performance Control for the Full-State-Constrained Robotic Manipulator

This paper proposes a finite-time modified prescribed performance controller for the nonlinear full-state-constrained robotic manipulator system. This paper introduces hyperbolic cotangent functions in the prescribed performance functions. They circumvent the demands for accurate initial conditions of the state variables. A second-order finite-time command filter and a fractional-order compensation mechanism are designed to filtrate the repeated derivatives and improve the convergence speed of the state errors. The simulation results exhibit that the controller designed in this paper has a faster convergence speed and minor state errors.