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WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control

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A Novel Prescribed-Performance-Tracking Control System with Finite-Time Convergence Stability for Uncertain Robotic

Anh Tuan Vo¹, Thanh Nguyen Truong¹, Hee-Jun Kang²

¹Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, Korea.

Sensors (Basel, Switzerland)

|April 12, 2022

Summary

This study introduces a novel prescribed performance control system for uncertain robotic manipulators, ensuring finite-time convergence and stability. The advanced controller precisely manages trajectory tracking, overshoot, and steady-state errors for improved robotic performance.

Keywords:

finite-time control prescribed performance control robot manipulators sliding mode control

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Area of Science:

Robotics
Control Systems Engineering
Applied Mathematics

Background:

Uncertain robotic manipulators present significant challenges in achieving precise trajectory tracking.
Existing control methods often struggle with finite-time convergence and predefined performance bounds.

Purpose of the Study:

To develop an advanced prescribed performance-tracking control system for uncertain robotic manipulators.
To ensure finite-time convergence stability and predefined performance limits for trajectory tracking.

Main Methods:

Design of a modified integral nonlinear sliding-mode hyperplane using transformed errors.
Implementation of a super-twisting reaching control law for robust control.
Simulation analysis on an industrial robot manipulator model.

Main Results:

The proposed controller achieves finite-time convergence and global stability.
Demonstrated ability to predefine and constrain overshoot and steady-state errors.
Ensured smooth control torque output without compromising robustness.

Conclusions:

The advanced prescribed performance control system effectively addresses trajectory tracking in uncertain robotic manipulators.
The controller offers enhanced precision, robustness, and finite-time convergence properties.
Simulation results validate the proposed control algorithm's effectiveness.