Fixed-Time Bounded H Infinity Tracking Control of a Single-Joint Manipulator System with Input Saturation

Based on Lyapunov finite-time stability theory and backstepping strategy, we put forward a novel fixed-time bounded H infinity tracking control scheme for single-joint manipulator system with input saturation. The main objective is to maintain that the output variable tracks desired signal at fixed time. advantages of this paper are settling time error converging origin independent initial conditions, its convergence speed more faster. Meanwhile, adopted suppress influence external disturbances controlled system. At same time, problem saturation considered, which effectively reduces energy consumption. Theoretical analysis shows closed-loop converges small neighbourhood within In end, simulation example presented demonstrate effectiveness proposed scheme.