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Journal of Zhejiang University SCIENCE C 1998 Vol.-1 No.-1 P.

http://doi.org/10.1631/FITEE.2000145


Adaptive tracking control for high-order MIMO nonlinear systems with prescribed performance


Author(s):  Xue-rao WANG, Qing-ling WANG, Chang-yin SUN

Affiliation(s):  School of Automation, Southeast University, Nanjing 210096, China; more

Corresponding email(s):   wangxuerao@seu.edu.cn, qlwang@seu.edu.cn, cysun@seu.edu.cn

Key Words:  Adaptive tracking control, Prescribed performance, Input saturation, Disturbance observer, Neural network


Xue-rao WANG, Qing-ling WANG, Chang-yin SUN. Adaptive tracking control for high-order MIMO nonlinear systems with prescribed performance[J]. Frontiers of Information Technology & Electronic Engineering, 1998, -1(-1): .

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Abstract: 
In this paper, an observer-based adaptive prescribed performance tracking control scheme is developed for a class of uncertain multi-input and multi-output (MIMO) nonlinear systems with or without input saturation. A novel finite-time neural network (NN) disturbance observer is constructed to estimate the system uncertainties and external disturbances. To guarantee the prescribed performance, an error transformation is applied to transfer the time-varying constraints into a constant constraint. Then, by employing a Barrier Lyapunov Function (BLF) and backstepping technique, an observer-based tracking control strategy is presented. It is proven that using the proposed algorithm, all the closed-loop signals are bounded, and the tracking errors satisfy the predefined time-varying performance. Finally, simulation results on a quadrotor system are given to illustrate the effectiveness of the proposed control scheme.

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