Adaptive Asymptotic Tracking Control for High-Order Nonlinear Systems With Prescribed Transient Performance
针对高阶不确定非线性系统，提出一种渐近跟踪控制器，放松了现有假设，使跟踪误差能在预设时间内收敛到指定范围并最终渐近归零，仿真验证了有效性。
This article presents an asymptotic tracking controller for high-order uncertain nonlinear systems. Compared to the existing results, some restrictive assumptions are relaxed and the requirement of the variables being bounded is removed. At the same time, a prescribed time tracking control strategy is constructed to make that the system has better-transient performance during operation. Specifically, a global prescribed time function is proposed and an unconstrained variable is constructed to replace the constrained tracking error. Under this framework, an appealing feature of the designed controller is that the tracking error can converge to a specified range within a prescribed time and eventually converge to zero asymptotically starting from any initial conditions, where the prescribed time and accuracy can be directly given. Finally, the simulation results validate the effectiveness of the control strategy.