Model-independent preset-time dynamic trajectory tracking control of Euler–Lagrange systems

In this paper, dynamic trajectory tracking control problems of Euler–Lagrange systems are addressed by designing model-independent controllers to achieve desired preset-time requirements and anti-interference performance. Firstly, a projection strategy is proposed for non-perturbing Euler–Lagrange systems, and the relationship between the infinite-time domain and the preset-time domain is established. Based on this strategy, a kind of preset-time dynamic trajectory tracking controller is developed, and the related stability analysis is given. Then, in order to solve the problem that the preset-time controller depends on the parameters of the system model, the model-independent preset-time controller is constructed by parameterising the dynamic model and designing the corresponding adaptive law. Considering that there are often disturbances in practical applications, the anti-interference performance of the system is discussed based on the controller with preset-time performance and model-independent property. The proposed method is validated through experimental simulations using a two-link manipulator, demonstrating its feasibility and effectiveness.