Prescribed Performance Control for Robotic System with Communication Delays and Disturbances

This paper presents a Prescribed Performance Control (PPC) approach for robotic systems experiencing communication delay and disturbances. Under input and feedback delays, a state feedback controller is designed to maintain the output tracking error within prescribed performance specifications. Additionally, a super-twisting algorithm-based sliding-mode observer is proposed to estimate and compensate for external disturbance in the robotic system. Based on the Lyapunov method, appropriate controller parameters and observer gains are selected to ensure the accuracy of output tracking and disturbance estimation. Finally, the effectiveness of the proposed approach is validated through simulations on a nonlinear robotic system. The proposed method remains effective in the simultaneous presence of state measurement delay, control input delay, and disturbance.