Frontiers of Information Technology & Electronic Engineering
>> 2021,
Volume 22,
Issue 7
doi:
10.1631/FITEE.2000145
Adaptive tracking control of high-order MIMO nonlinear systems with prescribed performance
Affiliation(s): School of Automation, Southeast University, Nanjing 210096, China; Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing 210096, China; less
Received: 2020-04-03
Accepted: 2021-07-20
Available online: 2021-07-20
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Abstract
In this paper, an observer-based adaptive tracking control scheme is developed for a class of uncertain multi-input multi-output nonlinear systems with or without . A novel finite-time is constructed to estimate the system uncertainties and external disturbances. To guarantee the , an error transformation is applied to transfer the time-varying constraints into a constant constraint. Then, by employing a barrier Lyapunov function and the 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 requirements. Finally, simulation results on a quadrotor system are given to illustrate the effectiveness of the proposed control scheme.
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