Robust adaptive prescribed performance dynamic surface control for uncertain nonlinear pure-feedback systems

摘要: Abstract A robust adaptive prescribed performance dynamic surface control design procedure for a class of nonlinear pure-feedback systems with both unknown vector parameters and unmodeled dynamics is presented. The lie within some bounded functions, which are assumed to be partially known. state transformation an auxiliary system proposed avoid using the cumbersome formula handle non-affine structure. radical-type Lyapunov function L designed ensure system. Bounded value finding partial derivative avoided by designing special virtual controllers in control. As illustrated examples, scheme shown guarantee semi-global uniformly ultimately bounded, steady-state tracking error depend on functions.