A prescribed‐performance‐like control for improving tracking performance of networked robots

摘要

Abstract To balance the performance and implementability of classical predefined performance control algorithm when its hard constraint is violated, this article investigates a switching‐based prescribed‐performance‐like control (PPLC) approach for nonlinear teleoperation systems. To achieve the objective, a switching mechanism is introduced into the classical controller design and based on this, a nonlinear proportional plus auxiliary compensation controller is designed, where a switched filter control technique is employed. By modeling the resulting closed‐loop system as a special switched delayed system and using the piecewise Lyapunov‐Krasovskii functional method, the state‐independent input‐to‐output stabilty of closed‐loop system is established, where a feasible range of the “initial” values of piecewise continuous performance function is given to achieve a tradeoff between the closed‐loop stability and overshoot. It is shown that the developed switching‐based PPLC approach obtains better performance than the classical predefined performance control algorithms. Simulations on a pair of 3‐DOF planar arms illustrate the approach.