Prescribed Performance Tracking Control of One-Link Manipulator With Output Constraint and External Disturbance

This paper is concerned with the problem of tracking control for a one-link manipulator with output constraint and external disturbance. It is focused on the cases where the nonlinear functions and disturbance are not necessarily known, and the control algorithm is as simple as possible. In this paper, a new robust prescribed performance controller is designed to address these challenges. Herein, the potential robustness of the barrier functions is exploited to guarantee that the tracking error and the intermediate errors remain confined to the preassigned performance boundaries. In addition, a unified performance analysis framework is established by contradiction to reveal the inherent robustness of the designed controller against the unknown system nonlinearities and unknown disturbance. It turns out that the output evolves in the given constraint bounds for all time. The theoretical findings are substantiated by the simulation results.