Prescribed Performance Robust Trajectory Tracking of Uncertain Euler-Lagrange Systems

This paper addresses the problem of robust trajectory tracking for uncertain Euler-Lagrange systems, focusing on achieving prescribed performance despite the presence of external disturbances and parameter uncertainties. The proposed method integrates barrier Lyapunov function with the internal model principle to ensure prescribed performance in the control of Euler-Lagrange systems. Unlike previous algorithms, this method introduces time-varying natural logarithmic barrier Lyapnuov function and employs piecewise differentiable, nonlinear, and non-increasing prescribed performance functions. The proposed controller guarantees that the tracking error converges to zero while satisfying the prescribed performance throughout the process. The effectiveness of the proposed control strategy is demonstrated through a simulation example.