Time Delay Control for Robot Manipulators With Prescribed Performance
Abstract
This letter proposes a novel prescribed performance time delay control (PTDC) strategy for trajectory tracking in robot manipulators with uncertain dynamics. By integrating prescribed performance control (PPC) into the time delay control (TDC) framework, the proposed PTDC ensures prescribed performance, featuring bounded transient behavior with low overshoot and improved steady-state accuracy, without requiring detailed knowledge of system dynamics. The control algorithm features a simple structure, low computational overhead, and easy deployment on real-time robotic platforms. Lyapunov’s stability theory and Barbalat’s lemma are applied to rigorously prove global asymptotic stability and prescribed performance guarantees. Both simulations and SCARA robot experiments demonstrate that PTDC significantly outperforms existing TDC schemes in position tracking accuracy and transient performance.
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Research works printed but not linked: 1
- Slotine, 1991, Applied Nonlinear Control
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- Authors
- Yang, P., Zhang, H., Meng, X., & Li, Q.
- Affiliations
- Zhejiang Sci-Tech University (CN)
- School of Data Science, The Chinese University of Hong Kong (Shenzhen), Shenzhen, China
- Venue
- IEEE Control Systems Letters
- Published
- 2025
- Volume
- 9
- Pages
- 2205-2210
- ISSN
- 2475-1456 (ISSN-L)
- OpenAlex
- W4413472020
- Semantic Scholar
- e3372005c0675db8a5fffad128deb0134af1ee0c
- Cited by
- 2
- References
- 25
- Citations by year
- 2026: 2
- FWCI
- 0.74
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Control Systems Letters (publishedVersion)
- Funders
- National Natural Science Foundation of China (U23A20615)
- Science Foundation of Zhejiang Sci-Tech University (24242210-Y)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Keywords
- time delay control, robot manipulators, prescribed performance control, trajectory tracking, uncertain dynamics, transient performance, overshoot reduction, global asymptotic stability, Barbalat's lemma, SCARA robot, location tracking
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