Constrained Sliding Mode Control for Uncertain Manipulator Systems with Prescribed Performance

Trajectory tracking of robots plays an important role in both theory and engineering applications, but trajectory tracking with predetermined performance is still an open question to be solved. In this paper, the trajectory tracking control problem of a class of manipulator systems is investigated. We design a sliding mode based controller to ensure that the joint position and velocity tracking errors converge into a user-defined range within finite time. We prove rigorously that with the help of exponential-type Lypapunov function, sliding mode would never exceed the preassigned range, leading to constraint convergence performance of the corresponding states. The numerical simulation results shows its validity and rationality.