Predefined-Time Control of Robot Systems with Prescribed Performance Guarantees

This article investigates the problem of predefined time prescribed performance tracking control for robotic manipulators, considering bounded external disturbances and unknown input saturation. At first, a Gaussian error function is utilized as a replacement for non-smooth unknown input saturation. Then, a predefined-time performance function is designed to achieve the predefined convergence. Based on this foundation, a controller is developed utilizing a predefined-time terminal sliding surface. The position tracking error exhibits globally predefined time convergence and prescribed transient steady state performance. Stability analysis of the designed controller is conducted utilizing the Lyapunov method. Finally, numerical simulations are employed to verify the effectiveness and superiority of the proposed scheme.