Prescribed performance adaptive control for an uncertain robotic manipulator with input compensation updating law

• Published in: Journal of the Franklin Institute Vol. 358; no. 16; pp. 8396 - 8418
• Main Authors: Song, Zhankui, Sun, Kaibiao
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.10.2021; Elsevier Science Ltd
• Subjects: Adaptive control; Algorithms; Closed loop systems; Closed loops; Control theory; Convergence; Feedback control; Manipulators; Performance enhancement; Robot arms; Robotics; Robustness (mathematics); Strategy; Tracking control systems; Tracking errors; Trajectory planning

This paper investigates an adaptive prescribed performance control strategy with specific time planning for trajectory tracking of robotic manipulator subject to input constraint and external disturbances. By constructing an accumulated error vector embedded with a performance enhancement function a...