Asymptotic Tracking Control for Nonaffine Systems With Disturbances

This brief intends to address an adaptive asymptotic tracking control with prescribed performance function for a class of nonaffine systems with unknown disturbances. First, the nonaffine system is transformed into an affine system by using a set of alternative state variables. Subsequently, a prescribed performance function with predefined convergence rate, maximum overshoot and steady-state error is introduced. To achieve the asymptotic tracking control performance, the robust integral of the sign of the error (RISE) feedback term is utilized in the control design to reject the unknown external disturbances and NN approximation errors. Finally, an adaptive controller is presented so that the asymptotic tracking performance with guaranteed prescribed performance is achieved. Comparative experiments are provided to show the effectiveness of the proposed control scheme.

Automated summary

This article presents an adaptive asymptotic tracking control method with prescribed performance function for a class of nonaffine systems with unknown disturbances. By transforming the nonaffine system into an affine system, introducing a prescribed performance function, and utilizing the robust integral of the sign of the error (RISE) feedback term, the proposed control scheme achieves asymptotic tracking performance with guaranteed prescribed performance.