Initial configurations‐independent predefined performance control of robotic manipulator with input saturation

Abstract

This article develops a guaranteed predefined performance control scheme for a class of robotic manipulators with input saturation and unknown uncertainties.The main advantage is that it can provide convenient and quantifiable predefined performance control, by integrating the  1 -class performance function in the prescribed performance control framework and designing an adaptive anti-saturation compensator. The maximum overshoot, the settling time, and the steady-state error can be specified independently and are not limited by the initial configurations of the robotic system, where the introduction of  1 -class performance function simplifies the control design. By introducing the adaptive neural network estimator and anti-saturation compensator, the proposed robust controller is also available in the presence of dynamic uncertainties, external disturbance, and actuator saturation. The proposed adaptive anti-saturation compensator can be easily incorporated into the guaranteed predefined performance control, which simplifies the stability analysis. Numerical results based on simulations demonstrate the effectiveness of the proposed method.