Prescribed-Time Trajectory Tracking Controller for Flexible-Joint Manipulators: A High-Order Fully Actuated System Approach

To address parameter uncertainties and unknown external disturbances in flexible-joint manipulator systems, a prescribed-time trajectory tracking control strategy based on the backstepping design of high-order fully actuated (HOFA) system is proposed in this dissertation, aiming to simplify the control design process. The strategy incorporates a prescribed error trajectory and performance constraints to regulate angular errors, ensuring their convergence at the specified time. The simulation results demonstrate that the proposed strategy enables customizable convergence time and error precision while providing accurate control over the convergence time.