Abstract
AbstractThis 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 ‐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 ‐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.
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