Approximation-based robust adaptive backstepping prescribed performance control for a Huger class of nonlinear systems
Summary: This paper proposes an innovative adaptive neural prescribed performance control (PPC) scheme for large classes of nonlinear, nonstrict-feedback systems under input saturation constraint. A restrictive hypothesis under which the upper and lower bounds of control gain functions exist a priori is first relieved by constructing appropriate compact sets within which all state trajectories are held. A novel asymmetry error transformed variable is then introduced to cope with the nondifferentiable obstacle and complex deductions corresponding to traditional PPC schemes. To efficiently manage the input saturation constraint, a new auxiliary dynamic system with a bounded compensation tangent function term is established as the strictly bounded assumption of the dynamic system is canceled. It is rigorously proven that all signals in the closed-loop systems are semiglobally uniformly ultimately bounded under both Lyapunov and invariant set theories. The tracking errors converge to a small tunable residual set with prescribed performance under the effect of the input saturation constraint. The effectiveness of the proposed control scheme is thoroughly verified by two simulation examples.
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- scientific article; zbMATH DE number 6718781 (Why is no real title available?)
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