Prescribed-Time-Based Anti-Disturbance Tracking Control of Manipulators Under Multiple Constraints
Manipulators have a wide range of applications in industrial automation. However, their nonlinear characteristics, time-varying properties, and external disturbances present significant challenges in accurately tracking their trajectories. This paper proposes an integrated control strategy based on...
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MDPI AG
2025-03-01
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| Online Access: | https://www.mdpi.com/2076-0825/14/3/157 |
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| author | Zirui Wang Haoran Zheng Guangming Zhang |
| author_facet | Zirui Wang Haoran Zheng Guangming Zhang |
| author_sort | Zirui Wang |
| collection | DOAJ |
| description | Manipulators have a wide range of applications in industrial automation. However, their nonlinear characteristics, time-varying properties, and external disturbances present significant challenges in accurately tracking their trajectories. This paper proposes an integrated control strategy based on prescribed-time convergence control, output constraint control, prescribed performance control (PPC), and an extended state observer (ESO)-based anti-disturbance control method. The prescribed-time convergence control guarantees that the system will reach a steady state at a specified time, while the output constraint control ensures that the Vm will move within a predefined physical range. The PPC meets the rigorous requirements of error convergence during trajectory tracking by regulating the error dynamics, while the ESO is employed to estimate unknown disturbances and enhance the system’s resilience to interference. The simulation outcomes demonstrate that the proposed control methodology exhibits notable advantages in terms of a rapid response, precision tracking, and anti-disturbance capabilities. |
| format | Article |
| id | doaj-art-b46dc37e06cd4aac8d2adbb7e552a94c |
| institution | DOAJ |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-b46dc37e06cd4aac8d2adbb7e552a94c2025-08-20T02:41:54ZengMDPI AGActuators2076-08252025-03-0114315710.3390/act14030157Prescribed-Time-Based Anti-Disturbance Tracking Control of Manipulators Under Multiple ConstraintsZirui Wang0Haoran Zheng1Guangming Zhang2China Energy Shuohuang Railway Development Co., Ltd., Beijing 100080, ChinaSchool of Mechanical and Power Engineering, Nanjing Tech University, Nanjing 211816, ChinaCollege of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211816, ChinaManipulators have a wide range of applications in industrial automation. However, their nonlinear characteristics, time-varying properties, and external disturbances present significant challenges in accurately tracking their trajectories. This paper proposes an integrated control strategy based on prescribed-time convergence control, output constraint control, prescribed performance control (PPC), and an extended state observer (ESO)-based anti-disturbance control method. The prescribed-time convergence control guarantees that the system will reach a steady state at a specified time, while the output constraint control ensures that the Vm will move within a predefined physical range. The PPC meets the rigorous requirements of error convergence during trajectory tracking by regulating the error dynamics, while the ESO is employed to estimate unknown disturbances and enhance the system’s resilience to interference. The simulation outcomes demonstrate that the proposed control methodology exhibits notable advantages in terms of a rapid response, precision tracking, and anti-disturbance capabilities.https://www.mdpi.com/2076-0825/14/3/157manipulatorprescribed-time convergenceextended state observerprescribed performance control |
| spellingShingle | Zirui Wang Haoran Zheng Guangming Zhang Prescribed-Time-Based Anti-Disturbance Tracking Control of Manipulators Under Multiple Constraints Actuators manipulator prescribed-time convergence extended state observer prescribed performance control |
| title | Prescribed-Time-Based Anti-Disturbance Tracking Control of Manipulators Under Multiple Constraints |
| title_full | Prescribed-Time-Based Anti-Disturbance Tracking Control of Manipulators Under Multiple Constraints |
| title_fullStr | Prescribed-Time-Based Anti-Disturbance Tracking Control of Manipulators Under Multiple Constraints |
| title_full_unstemmed | Prescribed-Time-Based Anti-Disturbance Tracking Control of Manipulators Under Multiple Constraints |
| title_short | Prescribed-Time-Based Anti-Disturbance Tracking Control of Manipulators Under Multiple Constraints |
| title_sort | prescribed time based anti disturbance tracking control of manipulators under multiple constraints |
| topic | manipulator prescribed-time convergence extended state observer prescribed performance control |
| url | https://www.mdpi.com/2076-0825/14/3/157 |
| work_keys_str_mv | AT ziruiwang prescribedtimebasedantidisturbancetrackingcontrolofmanipulatorsundermultipleconstraints AT haoranzheng prescribedtimebasedantidisturbancetrackingcontrolofmanipulatorsundermultipleconstraints AT guangmingzhang prescribedtimebasedantidisturbancetrackingcontrolofmanipulatorsundermultipleconstraints |