Predefined-time prescribed performance fault-tolerant control for robotic manipulator trajectory tracking

This paper proposes a predefined-time terminal sliding mode prescribed performance control (PTTSMPPC) scheme to address the challenges of bounded external disturbances, model parameter uncertainties, and the uncertainty of traditional stability tracking time in robotic manipulator trajectory tracking control. To mitigate the singularity problem caused by actuator saturation, which often leads to tracking errors exceeding the prescribed performance boundaries in conventional prescribed performance control, an adaptive method for adjusting the performance boundaries is introduced. The novel designed terminal sliding mode surface (TSMS) is continuous and non-singular, ensuring the system’s strong robustness and effectively handling external disturbances and model uncertainties. The global stability of the system within the predefined time is rigorously demonstrated based on Lyapunov stability theory. Simulation and experimental results verify that the proposed PTTSMPPC method achieves superior transient performance and steady-state accuracy, confirming its feasibility and effectiveness.