Fixed-Time Tracking Control for Robotic Arm with Performance Constraints

Abstract

The problem of fixed-time tracking control is investigated for single-link robotic arm using backstepping control strategy and Lyapunov stability theory, and the robot arm's output angle is constrained. The proposed control algorithm ensures that the system tracks to a given signal in a fixed time, and the tracking error converges in any small neighborhood near the origin, and the convergence time is independent of the initial states of the system. Finally, the effectiveness of the scheme is verified by a MATLAB simulation example.