Global Prescribed Performance Control for Uncertain Nonlinear Systems: A Fully Actuated System Approach

This article investigates the global prescribed performance control of single-order fully actuated systems (FASs) with nonlinear uncertainties and input disturbances. In comparison with existing results subject to the initial value constraint, our proposed scheme is capable of preseting uniform performance boundaries for the output tracking error and achieving full-state asymptotic tracking under arbitrary bounded initial conditions. First, a distinctive error transformation is conducted on the output tracking error, leading to the unconstrained transferred error system. Second, the transferred error system is equivalently converted into a novel single-order FAS. Third, based on the FAS approach, a robust adaptive controller embedded with positive integrable time-varying functions is designed, ensuring the boundedness of closed-loop signals and the expected tracking performance. A simulation study on the single-link manipulator demonstrates the effectiveness of the presented control strategy.