Abstract

This paper presents a model-free prescribed-time trajectory tracking controller for robotic manipulators. Under the action of the controller, the tracking error can converge at arbitrary specified time regardless of the initial state. The backstepping method is utilized to design the variation law of tracking error step by step. The manipulator dynamics and disturbances are regarded as unknown terms and time-delay estimation are employed to identify them. It is proved that the proposed scheme is globally uniformly prescribed-time stable. As an example, a 2-DOF robot manipulator is considered for numerical simulation.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.