Research on an adaptive preset performance control algorithm for multi degree of freedom robotic arms based on model uncertainty

This study provides an algorithm of a self-adaptive preset performance controller is designed for robot trajectory tracking problems with modeling errors and uncertain disturbances, and the stability of the system is proved using Lyapunov stability theorem. This controller can ensure that the tracking hin the preset boundary in the presence of uncertainty and external disturbances in the system, and has the characteristics of fast convergence and small overshoot. The effectiveness and performance of the controller were verified through Matlab simulation.