Backstepping control for a two-link manipulator with appointed-time convergence. (September 2022)

• Record Type: Journal Article
• Authors: Zhang, Liang; Liu, Jiafu; Cui, Naigang
• Is Part Of: ISA transactions. Volume 128(2022)Part A
• Page Start: 208
• Page End: 219
• Publication Date: 2022-09
• Subjects: Appointed-time convergence -- Backstepping control -- Prescribed performance function -- Two-link manipulator; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2021.10.005
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: In this paper, a novel backstepping control law is investigated, which guarantees appointed-time convergence for a two-link manipulator. In contrast to other fixed-time controllers or predefined-time controllers, the practical convergence time can be precisely obtained instead of being estimated. By utilizing a novel appointed-time prescribed performance function, the trajectory tracking error of the manipulator can be previously constrained. Furthermore, the external disturbances have been suppressed by introducing a disturbance observer with the convergence time as a prior control parameter and a switching sliding mode control law. The stability of the controller is analyzed by the Lyapunov method. Various numerical simulation results are carried out to demonstrate the efficacy of the proposed control scheme. Highlights: Appointed-time prescribed performance function is proposed. Backstepping appointed-time controller is developed to realize high-precision control. A switching predefined time sliding mode control law is presented to guarantee robustness.