Initial configurations-independent predefined performance control of robotic manipulator with input saturation

Di Hua Zhai*, Yuanqing Xia

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)

Abstract

This article develops a guaranteed predefined performance control scheme for a class of robotic manipulators with input saturation and unknown uncertainties. The main advantage is that it can provide convenient and quantifiable predefined performance control, by integrating the (Formula presented.) -class performance function in the prescribed performance control framework and designing an adaptive anti-saturation compensator. The maximum overshoot, the settling time, and the steady-state error can be specified independently and are not limited by the initial configurations of the robotic system, where the introduction of (Formula presented.) -class performance function simplifies the control design. By introducing the adaptive neural network estimator and anti-saturation compensator, the proposed robust controller is also available in the presence of dynamic uncertainties, external disturbance, and actuator saturation. The proposed adaptive anti-saturation compensator can be easily incorporated into the guaranteed predefined performance control, which simplifies the stability analysis. Numerical results based on simulations demonstrate the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)4173-4194
Number of pages22
JournalInternational Journal of Robust and Nonlinear Control
Volume32
Issue number7
DOIs
Publication statusPublished - 10 May 2022

Keywords

  • adaptive control
  • input saturation
  • predefined performance
  • predefined time
  • robotic manipulator

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