Prescribed performance control of a robotic manipulator with unknown control gain and assigned settling time

ISA Trans. 2024 Feb:145:330-354. doi: 10.1016/j.isatra.2023.12.011. Epub 2023 Dec 13.


This paper presents a control method for trajectory tracking of a robotic manipulator, subject to practical constraints and uncertainties. The proposed method is established upon an adaptive backstepping procedure incorporating a tangent-type barrier Lyapunov function and it preserves some important metrics of trajectory tracking such as fast and user-defined settling time response and robustness against actuation faults and unknown control gain. The proposed design maintains the system trajectory within a prescribed performance bound and relaxes the assumption of the bounded initial condition. These salient features preserve the system within a safety bound and, consequently, guarantee the system stability and safety. The performance of the proposed control method is validated on a 3-DOF PUMA 560 robotic manipulator benchmark model, with different operation scenarios. The simulation results confirm the effectiveness and robustness of the proposed control method.

Keywords: Barrier lyapunov function; Constrained control; Prescribed performance bound; Robotic manipulator.