Adaptive Finite-time Tracking Control for One-link Manipulator with Funnel Boundary Constraints

The problem of adaptive finite-time tracking control for one-link manipulator with funnel boundary constraints is investigated. In order to converge the output tracking error to the prescribed funnel boundary constraints in a finite period of time, a modified funnel boundary variable is introduced, and the original error model is transformed into a new one which is introduced to design the controller. Theory analysis demonstrates the system is semi-global practical finite-time stable(SGPFS), and the output tracking error can also be forced into the prescribed funnel boundary region. Different from the conventional prescribed performance control(PPC), the proposed method overcomes the problem of the singularity that exists in design of backstepping method, and guarantees that all the signals of the closed-loop system are SGPFS, at the same time, the output tracking error can converge to the the given funnel boundary constraints. A simulation example shows that the proposed approach is effective.