Proximate Fixed-Time Prescribed Performance Tracking Control of Uncertain Robot Manipulators | IEEE Journals & Magazine | IEEE Xplore

Proximate Fixed-Time Prescribed Performance Tracking Control of Uncertain Robot Manipulators


Abstract:

This article solves the problem of proximate fixed-time prescribed performance trajectory tracking for robot manipulators in the presence of bounded external disturbances...Show More

Abstract:

This article solves the problem of proximate fixed-time prescribed performance trajectory tracking for robot manipulators in the presence of bounded external disturbances and parametric uncertainties. A novel prescribed performance function (PPF) is first presented. A sliding surface with the prescribed performance tracking errors is constructed and a nonsingular proximate fixed-time terminal sliding mode prescribed performance control (FTSMPPC) is developed. It is proved that the position tracking error satisfies the prescribed performance boundaries all the time and globally converges to a preset small region centered on the origin within fixed time and then converges to the origin asymptotically. The proposed FTSMPPC provides faster transient performance quantified and higher steady-state accuracy by the proposed PPF. The effectiveness and improved performances of the presented approach are validated by simulations and experiments.
Published in: IEEE/ASME Transactions on Mechatronics ( Volume: 27, Issue: 5, October 2022)
Page(s): 3275 - 3285
Date of Publication: 08 September 2021

ISSN Information:


I. Introduction

Trajectory tracking for robot manipulators is one of the elementary objectives and is widely used in the robotic field [1]–[3]. In a realistic scenario, perfect knowledge of the dynamic model of the robot can never be assumed [4], [5]. Moreover, disturbance always exists and it may deteriorate the performance of the controlled systems significantly [6], [7]. Fast and high-precision tracking of robot manipulators is a topic that continues to challenge control theoreticians and engineers. Recently, finite-time stable control of robot manipulators has attracted much attention due mostly to its fast convergence and high steady-state accuracy [8]–[11].

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References

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