Adaptive back-stepping tracking control for the robot system with input saturation

This paper investigates the trajectory tracking control for the robot system under the external disturbances and input constraint. Firstly, an anti-saturation tracking controller is designed for the robot system subject to input constraint by using the terminal sliding mode control and auxiliary system. Secondly, the adaptive control is introduced to estimate the external disturbances with the unknown upper bounded. Finally, with the help of the Lyapunov stability theory, it is proved that closed loop system is practical finite-time stable, and the effectiveness of designed control strategy has further been verified by the digital simulation.