Adaptive Tunable Predefined-Time Backstepping Control for Uncertain Robotic Manipulators

摘要

In engineering applications, high-precision tracking control is crucial for robotic manipulators to successfully complete complex operational tasks. To achieve this goal, this study proposes an adaptive tunable predefined-time backstepping control strategy for uncertain robotic manipulators with external disturbances and model uncertainties. By establishing a novel practical predefined-time stability criterion, a tunable predefined-time backstepping controller is systematically presented, allowing the upper bound of tracking error settling time to be precisely determined by adjusting only one control parameter. To accurately address lumped uncertainty, two updating laws are designed: a fuzzy weight updating law and a boundary adaptive updating law, which together reduce dependence on system model knowledge. In addition, the singularity problem in the predefined-time design process is effectively avoided by constructing the hyperbolic tangent function. The efficacy of the proposed control strategy is verified through numerical simulations.