Non-Transformed Prescribing Performance Function and Finite-Time RISE-Based Tracking Control for Euler-Lagrange Systems

Abstract

This study addressed the issues of providing an enhanced prescribed performance control technique and a finite-time convergence of the conventional robust integral of the sign of the error (RISE) control method and for Euler-Lagrange systems. An improved RISE control strategy blended with a novel sine hyperbolic function as the prescribed function technique was designed based on the finite-time convergence theorem. The unknown uncertainty due to unknown dynamics of Euler-Lagrange dynamics was estimated by the adaptive law comprised by the command trajectory signals. The stability of the closed-loop finite-time RISE control system was proved via the constructive finite-time Lyapunov function method. The outperformed results of the proposed control strategy over the conventional controls were demonstrated by the experimental verification for an articulated manipulator.