Self-adaptive predefined time control method for single-connecting-rod mechanical arm

The invention provides a self-adaptive predefined time control method for a single-connecting-rod mechanical arm, which relates to the technical field of robot control and specifically comprises the following steps of: considering the influence of random noise, external interference and input saturation to obtain a state equation of the single-connecting-rod mechanical arm; a trajectory tracking error system is introduced, and an auxiliary variable system is designed to process the input saturation problem of the controller. And an unknown function in a kinetic equation of the single-connecting-rod mechanical arm is estimated through the approximation characteristic of the fuzzy logic system. And designing required virtual control, actual control and an adaptive update rate according to the steps of the adaptive backstepping method. And stability analysis and simulation verification are carried out on the proposed control method by combining the Lyapunov stability theory. According to the technical scheme, th