A prescribed-performance-like control for improving tracking performance of networked robots

To balance the performance and implementability of classical predefined performance control algorithm when its hard constraint is violated, this article investigates a switching-based prescribed-performance-like control (PPLC) approach for nonlinear teleoperation systems. To achieve the objective, a switching mechanism is introduced into the classical controller design and based on this, a nonlinear proportional plus auxiliary compensation controller is designed, where a switched filter control technique is employed. By modeling the resulting closed-loop system as a special switched delayed system and using the piecewise Lyapunov-Krasovskii functional method, the state-independent input-to-output stabilty of closed-loop system is established, where a feasible range of the “initial” values of piecewise continuous performance function is given to achieve a tradeoff between the closed-loop stability and overshoot. It is shown that the developed switching-based PPLC approach obtains better performance than the classical predefined performance control algorithms. Simulations on a pair of 3-DOF planar arms illustrate the approach.