Low-Complexity Prescribed Performance Control for Perturbed Robotic Manipulators: A Fully Actuated System Approach

This paper investigates the prescribed performance control (PPC) problem of rigid robotic manipulators subject to the inertial perturbation. Different from the traditional PPC scheme and the current stabilization results of perturbed uncertain fully actuated systems (FASs), a low-complexity PPC method without approximation structures is proposed, simultaneously achieving exponentially decaying bounds and zero overshoot. Blending the FAS approach with the filtered error transformation, the original PPC problem of perturbed robotic manipulators is converted into a stabilization problem of a simple fully actuated transformed system. Subsequently, a robust adaptive controller is devised directly without recursive design procedures, guaranteeing the boundedness of all closed-loop signals and desired performance. To verify the effectiveness of the proposed scheme, a simulation study is conducted regarding a planar two-link robotic manipulator.