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

被引：0

作者：

Yang, Pu ^{[1
]}

Su, Yuxin ^{[1
]}

机构：

[1] Xidian Univ, Sch Elect Mech Engn, Xian 710071, Peoples R China

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2022年 / 27卷 / 05期

关键词：

Fixed-time stability; prescribed performance control (PPC); robot control; sliding mode control; trajectory tracking; SLIDING MODE CONTROL; FINITE-TIME; ADAPTIVE-CONTROL; CONTROL SCHEME; STABILIZATION; DESIGN; SYSTEMS; DYNAMICS;

D O I：

10.1109/TMECH.2021.3107150

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 fixedtime 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.

引用

页码：3275 / 3285

页数：11