A Modified Adaptive Prescribed Performance Control Method for Motion Control Problems of Robotic Manipulators

Abstract

This paper proposes a modified adaptive prescribed performance control method to solve motion control problems of robotic manipulators such as tracking accuracy, transient performance guarantee, convergence rate, and chattering phenomenon. A modified integral terminal sliding mode (ITSM) surface based on the error transformation and prescribed performance function (PPF) is generated to avoid singularity problems and to manage the convergence rate and steady-state of tracking errors within a predefined boundary of the control performance. Furthermore, an adaptive super-twisting reaching control (ASTwRC) law is applied to strengthen the robust performance and to deal with system uncertainties and harmful chattering. The stability of the developed controller is guaranteed using the Lyapunov theory. Several simulations on a 3-DOF robotic manipulator are implemented to investigate the effectiveness of the control solution proposal.