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<p>Aiming at the trajectory tracking time stability problem of nonlinear robot manipulators, this paper proposes an adaptive control strategy based on the time-varying constraint. The strategy realizes the fast convergence of the system within a prescribed time by designing a time-varying constraint function to constrain the error dynamics within a prescribed range and combining it with non-singular fast terminal sliding mode controller. Meanwhile, a nonlinear anti-saturation compensator is introduced to compensate the joint torque actuator’s saturation in real time to solve its limitation. Furthermore, a neural networks-based estimator is employed to approximate unknown nonlinear dynamics online, improving the robustness and adaptability of the control system. Additionally, the global stability and timing convergence of the closed-loop system are demonstrated by stability analysis based on the Lyapunov function. The simulation results demonstrate that the controller achieves high-precision trajectory tracking under various initial conditions within the prescribed time.</p>

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Adaptive prescribed-time prescribed-performance control for uncertain nonlinear robotic manipulators based on sliding mode control

  • 期刊论文

  • 发表日期：

    2026年4月18日

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  • Shuli Liu,
  • Yi Liu,
  • Jingang Liu,
  • Yin Yang

摘要

Aiming at the trajectory tracking time stability problem of nonlinear robot manipulators, this paper proposes an adaptive control strategy based on the time-varying constraint. The strategy realizes the fast convergence of the system within a prescribed time by designing a time-varying constraint function to constrain the error dynamics within a prescribed range and combining it with non-singular fast terminal sliding mode controller. Meanwhile, a nonlinear anti-saturation compensator is introduced to compensate the joint torque actuator’s saturation in real time to solve its limitation. Furthermore, a neural networks-based estimator is employed to approximate unknown nonlinear dynamics online, improving the robustness and adaptability of the control system. Additionally, the global stability and timing convergence of the closed-loop system are demonstrated by stability analysis based on the Lyapunov function. The simulation results demonstrate that the controller achieves high-precision trajectory tracking under various initial conditions within the prescribed time.