Fixed-Time Tracking Control for Flexible Joint Manipulator With Prescribed Performance Constraint

This paper studies the transient and steady performance constraints on flexible joint manipulator system with exogenous disturbance, proposes a fixed-time prescribe tracking control method based singular perturbation model. For fast subsystem, subcontroller superior is proposed that guarantees suppression of vibration in fixed-time. The remaining slow subsystem can be linked rigid methods to achieve output constraints, type time-varying error constraint boundary first constructed, which broadens initial tangent barrier Lyapunov function. Then, non-singular fast-integration terminal sliding mode constructed make any converge Finally, nonlinear disturbance observer used counteract disturbance. simulation results show controller achieves performance.