Adaptive Prescribed-Time Trajectory Tracking Control for Manipulator Systems

This paper investigates the prescribed-time trajectory tracking control problem for manipulator systems subject to actuator saturation. To tackle this issue, a bounded time-varying gain function is designed. With its assistance, an adaptive sliding mode control (SMC) strategy is proposed to ensure that the tracking error converges to zero within the prescribed time. Furthermore, a saturation compensation mechanism is developed to handle the actuator saturation. To ensure the feasibility of the present method, sufficient conditions are derived through theoretical analysis to guarantee the prescribed-time stability (PTS) of the manipulator system. Finally, numerical simulations are conducted to verify the effectiveness and and superiority of the present control method.