Predefined-Time Tracking Control of Robotic Manipulator: A Fully Actuated System Approach

Abstract

This paper investigates the predefined-time joint angle tracking problem of a robotic manipulator based on the fully actuated system approach. In order to solve the joint angle tracking problem of a robotic manipulator, a predefined-time sliding mode control algorithm is proposed, and the design of the system controller is simplified via the fully actuated system approach. Based on this approach, robotic manipulator joint angle tracking can be achieved within the predefined-time. The Lyapunov stability theory is used to prove the convergence property of the system within the predefined-time and the effectiveness of the controller is verified by simulation.