Adaptive Prescribed Finite-Time Asymptotic Tracking Control for a One-Link Manipulator Regardless of Initial Angle Position

In this paper, an adaptive prescribed finite-time asymptotic tracking control (ATC) scheme is proposed for a one-link manipulator, which is independent of the initial angle position. To obtain the prescribed performance control (PPC) without dependence on the initial angle position, a hyperbolic tangent function (HTF) is employed to transform the error of the angle position to a new variable. Then, the control design is transformed to constrain the new variable. In addition, to avoid the overlarge initial control voltage caused by the large initial error, an input control function (ICF) is introduced to obtain the control signal with zero initial value. Meanwhile, the asymptotic tracking performance (ATP) of the angle position is verified based on Barbalat's Lemma. As a result, the designed controller guarantees the prescribed finite-time performance and the ATP of the manipulator as well as the boundedness of all the system signals. Finally, the effectiveness and applicability of the designed controller are demonstrated by simulations.