Robust adaptive prescribed performance control for a class of nonlinear pure‐feedback systems. (21st May 2019)

• Record Type: Journal Article
• Authors: Jia, Fujin; Wang, Xuhuan; Zhou, Xingyu
• Is Part Of: International journal of robust and nonlinear control. Volume 29:Number 12(2019)
• Page Start: 3971
• Page End: 3987
• Publication Date: 2019-05-21
• Subjects: adaptive control -- backstepping method -- prescribed performance -- pure‐feedback systems -- unmodeled dynamics; Automatic control -- Periodicals; Control theory -- Periodicals; Nonlinear systems -- Periodicals; 629.836
• DOI: 10.1002/rnc.4592
• Languages: English
• ISSNs: 1049-8923

Abstract

Summary: An adaptive prescribed performance control design procedure for a class of nonlinear pure‐feedback systems with both unknown vector parameters and unmodeled dynamics is presented. The unmodeled dynamics lie within some bounded functions, which are assumed to be partially known. A state transformation and an auxiliary system are proposed to avoid using the cumbersome formula to handle the nonaffine structure. Simultaneously, a parameter‐type Lyapunov function and L function are designed to ensure the prescribed performance of the pure‐feedback system. As illustrated by examples, the proposed adaptive prescribed performance control scheme is shown to guarantee global uniform ultimate boundedness. At the same time, this method not only guarantees the prescribed performance of the system but also makes the tracking error asymptotically close to a certain value or stable.