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This article solves the problem of proximate fixed-time prescribed performance trajectory tracking for robot manipulators in the presence of bounded external disturbances and parametric uncertainties. A novel prescribed performance function (PPF) is first presented. A sliding surface with the prescribed performance tracking errors is constructed and a nonsingular proximate fixed-time terminal sliding mode prescribed performance control (FTSMPPC) is developed. It is proved that the position tracking error satisfies the prescribed performance boundaries all the time and globally converges to a preset small region centered on the origin within fixed time and then converges to the origin asymptotically. The proposed FTSMPPC provides faster transient performance quantified and higher steady-state accuracy by the proposed PPF. The effectiveness and improved performances of the presented approach are validated by simulations and experiments.
Yang et al. (Wed,) studied this question.