Prescribed performance tracking control for high-order uncertain nonlinear systems

This paper considers the problem of prescribed performance tracking control for a class of high-order uncertain nonlinear systems with time-varying external disturbances. Using a little of priori system knowledge, a state feedback controller is designed capable of guaranteeing the prescribed performance requirements of the output tracking error, regarding the steady-state error, the convergence rate and the maximum overshoot. Compared with traditional backstepping-like approaches, no approximation techniques and hard numerical calculations are employed in the controller design. Thus, the proposed control scheme exhibits low complexity and strong robustness against system uncertainties. The effectiveness of the proposed scheme is verified by some simulation results.

Automated summary

This paper addresses the problem of prescribed performance tracking control for a class of high-order uncertain nonlinear systems with time-varying external disturbances. By utilizing prior system knowledge, a state feedback controller is designed to ensure the prescribed performance requirements of the output tracking error, including steady-state error, convergence rate, and maximum overshoot. Compared to traditional approaches, the proposed controller does not rely on approximation techniques or complex numerical calculations, resulting in lower complexity and strong robustness against system uncertainties. Simulation results are provided to verify the effectiveness of the proposed control scheme.