Prescribed performance safety-critical control for nonlinear systems with mismatched disturbances: Application to flexible robot manipulator

Zhang, Chuanlin, Chen, Huimin, He, Xixi, Liang, Kun, Mao, Jianliang, Wang, Xinming and Yang, Jun 2026. Prescribed performance safety-critical control for nonlinear systems with mismatched disturbances: Application to flexible robot manipulator. IEEE Transactions on Industrial Electronics 10.1109/tie.2026.3702214

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Abstract

This article proposes a prescribed performance safety-critical control strategy for the trajectory tracking problem of nonlinear systems with mismatched disturbances. First, by employing an active disturbance estimation manner, a nominal trajectory tracking controller is formulated under nonrecursive control design, which avoids the complexity of recursive design. Furthermore, to ensure the system satisfies prescribed performance conditions, the conditions are transformed into a control barrier function (CBF) from a safety constraint perspective. Aiming to address the challenges posed by mismatched disturbances and high relative degrees, a robust safety mechanism incorporating a disturbance observer is introduced to compensate for the impact of mismatched disturbances across high-order dynamic cascades. Simultaneously, a scaling strategy based on homogeneous system theory is designed to dominate the boundary characteristics of nonlinear dynamics, thereby overcoming the limitations of traditional CBFs that rely on Lipschitz conditions. Subsequently, the nominal trajectory tracking controller is dynamically adjusted within the derived robust safe constraint set via quadratic programming (QP) optimization. Finally, the effectiveness of the proposed strategy is verified through numerical simulations and practical experiments on a 6-degree-of-freedom (DoF) flexible robot manipulator.

Item Type:	Article
Date Type:	Published Online
Status:	In Press
Schools:	Schools > Engineering
Additional Information:	RRS policy applied. License information from Publisher: LICENSE 1: URL: https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html, Start Date: 2026-01-01
Publisher:	Institute of Electrical and Electronics Engineers
ISSN:	0278-0046
Date of First Compliant Deposit:	30 June 2026
Last Modified:	30 Jun 2026 13:00
URI:	https://orca.cardiff.ac.uk/id/eprint/187798

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