Adaptive fixed‐time prescribed performance control of flexible‐joint manipulator with unmodeled dynamics and dead‐zone

Abstract This article focuses on the topic of practical fixed‐time prescribed performance control schemes for flexible‐joint manipulators with unmodeled dynamics and dead‐zones. The computational complexity problem is avoided using dynamic surface control and the command filter technology, which can eliminate filtering errors with compensation mechanism. The influence of dynamical uncertainties is mitigated by an auxiliary signal generated by a first‐order system. The input dead‐zone is linearized, and prescribed performance is managed using nonlinear mapping. Using the introducing the compact set in stability analysis, all the signals in the closed‐loop system are proved to be semiglobally practically fixed‐time stable. Finally, the simulation results verify the feasibility of the adaptive control approach.