This paper investigates an adaptive prescribed performance control strategy with specific time planning for trajectory tracking of robotic manipulator subject to input constraint and external disturbances. By constructing an accumulated error vector embedded with a performance enhancement function and introducing an input auxiliary function, a specified-time control framework with built-in prescribed performance is further designed to ensure that the trajectory tracking performance. More particularly, the proposed control law is compatible with the control input saturation suppression algorithm, which is capable of improving the robustness of closed loop system. Under the framework of the proposed control strategy, it is proved by theory that all the signals in the closed-loop system are bounded, and moreover the tracking error can reach the exact convergence domain in a given time. At last, a numerical example is presented to indicate the feasibility and effectiveness of the proposed method.

本文研究了一种具有特定时间规划的自适应规定性能控制策略，用于受输入约束和外部干扰的机器人机械手的轨迹跟踪。通过构建嵌入性能增强函数的累积误差向量并引入输入辅助函数，进一步设计了具有内置规定性能的指定时间控制框架，以确保轨迹跟踪性能。更具体地说，所提出的控制律与控制输入饱和抑制算法兼容，能够提高闭环系统的鲁棒性。在提出的控制策略框架下，理论证明闭环系统中的所有信号都是有界的，而且跟踪误差可以在给定的时间内达到精确的收敛域。最后通过数值算例验证了所提方法的可行性和有效性。