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<p>Due to the influence of friction, inertia, gravity, and strong joint coupling characteristics, the manipulators are nonlinear systems. With the increase in the number of joints and links in the serial manipulators, its nonlinearity becomes more significant. These characteristics present challenges for controllers design. In this paper, a global predefined -time nonsingular terminal sliding mode prescribed performance control (PNSMPPC) scheme is proposed to address the issue of time-varying asymmetric output constraints. First, by using the Newton-Euler modeling approach, the serial manipulators are decomposed into subsystems that consist of links and joints. Utilizing this characteristic, the controller design method can be simplified based on the dynamic properties of subsystem. Subsequently, a novel prescribed performance function (PPF) is presented for each subsystem. This function is independent of the system’s initial value, and allows for arbitrary adjustment of settlement time according to engineering requirements. Based on above, a predefined-time controller (PTC) is designed. This design gives a result that the manipulators tracking errors converge to zero within an adjustable time. Simulations and experiments demonstrate the improved performances of the proposed approach.</p>

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Global transient and steady-state control for manipulators via a predefined-time approach

  • 期刊论文

  • 发表日期：

    2025年7月18日

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  • Xiangduan Zeng,
  • Kuo Li,
  • Changchun Hua,
  • Lantao Xing,
  • Zeyuan Xu

摘要

Due to the influence of friction, inertia, gravity, and strong joint coupling characteristics, the manipulators are nonlinear systems. With the increase in the number of joints and links in the serial manipulators, its nonlinearity becomes more significant. These characteristics present challenges for controllers design. In this paper, a global predefined -time nonsingular terminal sliding mode prescribed performance control (PNSMPPC) scheme is proposed to address the issue of time-varying asymmetric output constraints. First, by using the Newton-Euler modeling approach, the serial manipulators are decomposed into subsystems that consist of links and joints. Utilizing this characteristic, the controller design method can be simplified based on the dynamic properties of subsystem. Subsequently, a novel prescribed performance function (PPF) is presented for each subsystem. This function is independent of the system’s initial value, and allows for arbitrary adjustment of settlement time according to engineering requirements. Based on above, a predefined-time controller (PTC) is designed. This design gives a result that the manipulators tracking errors converge to zero within an adjustable time. Simulations and experiments demonstrate the improved performances of the proposed approach.