| Summary: | In this paper, a prescribed-time adaptive <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> cooperative strategy with novel prescribed performance and input quantization based on a leader state observer is proposed for uncertain multiple robot manipulators. First, a novel prescribed performance function is introduced into the asymmetric log-type barrier Lyapunov function, which can limit angle errors and reduce the loss of communication resources among multiple robot manipulators. Second, a new prescribed-time leader state estimation observer is proposed to estimate the leader’s state information and pass it to the other followers without acceleration information. Third, a prescribed-time adaptive command filter is designed to solve the “explosion of the complexity” problem and improves the convergence performance of the control system. Fourth, an adaptive prescribed-time <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> cooperative controller with novel prescribed performance and input quantization is designed. Finally, simulation examples are presented to evaluate the stability of the proposed control system.
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