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Finite-time Nonlinear H∞ Control of Robot Manipulators with Prescribed Performance
  • Mehdi Golestani ,
  • Robin Chhabra ,
  • Majid Esmailzadeh
Mehdi Golestani
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Robin Chhabra
Carleton University, Carleton University

Corresponding Author:[email protected]

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Majid Esmailzadeh
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Abstract

This letter addresses the problem of robust finite-time tracking control with prescribed performance for robot manipulators experiencing uncertain inertia, external disturbance, and actuator fault. We develop a control strategy that incorporates the nonlinear H∞ concept into the backstepping approach, using a novel virtual control, to guarantee practical finite-time convergence to a trajectory, whilst the closed-loop L2 gain is less than a prespecified value. We also use adaptive gains, instead of complex error transformations (common in prescribed performance controllers), to simultaneously impose constraints on the steady-state and transient response of the closed-loop, including maximum error, maximum overshoot, and minimum convergence rate his letter addresses the problem of robust finite-time tracking control with prescribed performance for robot manipulators experiencing uncertain inertia, external disturbance, and actuator fault. We develop a control strategy that incorporates the nonlinear H∞ concept into the backstepping approach, using a novel virtual control, to guarantee practical finite-time convergence to a trajectory, whilst the closed-loop L2 gain is less than a pre-specified value. We also use adaptive gains, instead of complex error transformations (common in prescribed performance controllers), to simultaneously impose constraints on the steady-state and transient response of the closed-loop, including maximum error, maximum overshoot, and minimum convergence rateT. The developed controller is not contingent on solving the Hamilton-Jacobi or Riccati equations and is free of the singularities associated with using fractional power in finite-time control. The performance and efficacy of the proposed control framework are demonstrated through simulation studies and comparisons with pertinent works.
2023Published in IEEE Control Systems Letters volume 7 on pages 1363-1368. 10.1109/LCSYS.2023.3241137