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<p>This study investigates the problem of prescribed performance trajectory tracking for uncertain robotic manipulators with sensor noise. First, an adaptive robust constraint-following control strategy is presented such that the robotic manipulators can follow the desired trajectory even if there is bounded time-varying uncertainty and sensor noise. The Lyapunov stability analysis shows that adaptive robust constraint-following control can ensure tracking errors possess specific characteristics, including uniform boundedness and uniform ultimate boundedness. Then, a performance guaranteed adaptive robust constraint-following control is developed, in which the prescribed performance function is innovatively incorporated into the adaptive robust constraint-following control based on the state transformation mechanism to achieve prescribed tracking performance. Finally, comparative simulations are performed to validate the effectiveness of the presented adaptive robust constraint-following control and performance guaranteed adaptive robust constraint-following control.</p>

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Udwadia theory-based performance guaranteed adaptive robust constraint-following control for uncertain robotic manipulators with sensor noise

  • 期刊论文

  • 发表日期：

    2026年2月19日

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  • Faliang Wang,
  • Ke Chen,
  • Shengchao Zhen,
  • Xiaofei Chen,
  • Hongmei Zheng,
  • Zhaodong Wang

摘要

This study investigates the problem of prescribed performance trajectory tracking for uncertain robotic manipulators with sensor noise. First, an adaptive robust constraint-following control strategy is presented such that the robotic manipulators can follow the desired trajectory even if there is bounded time-varying uncertainty and sensor noise. The Lyapunov stability analysis shows that adaptive robust constraint-following control can ensure tracking errors possess specific characteristics, including uniform boundedness and uniform ultimate boundedness. Then, a performance guaranteed adaptive robust constraint-following control is developed, in which the prescribed performance function is innovatively incorporated into the adaptive robust constraint-following control based on the state transformation mechanism to achieve prescribed tracking performance. Finally, comparative simulations are performed to validate the effectiveness of the presented adaptive robust constraint-following control and performance guaranteed adaptive robust constraint-following control.