TY - GEN
T1 - Prescribed Performance Tracking Control for Uncertain Strict-Feedback Systems Using Fully Actuated System Approach
AU - Duan, Yulin
AU - Zhang, Jiaming
AU - Zhang, Junxiang
AU - Duan, Guang Ren
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - This paper introduces a novel approach to prescribed performance tracking control for uncertain multiple-input multiple-output (MIMO) mixed-order strict-feedback systems (SFSs) using the fully actuated system approach (FASA). The structure of the subsystems in uncertain MIMO mixed-order SFSs satisfies the fully actuated system model and the order of each subsystem is not necessarily the same. In each subsystem, a virtual controller is designed using FASA. Then, we use the high-order backstepping method for overall stability design and control synthesis. Especially, by proposing a novel performance function, the tracking problem is transformed into ensuring the boundedness of the barrier function, and a fully actuated prescribed performance tracking controller is designed to achieve global stability while ensuring that tracking errors are preserved within the prescribed boundary. Finally, the simulation results illustrate the effectiveness of the proposed schemes by a practical example.
AB - This paper introduces a novel approach to prescribed performance tracking control for uncertain multiple-input multiple-output (MIMO) mixed-order strict-feedback systems (SFSs) using the fully actuated system approach (FASA). The structure of the subsystems in uncertain MIMO mixed-order SFSs satisfies the fully actuated system model and the order of each subsystem is not necessarily the same. In each subsystem, a virtual controller is designed using FASA. Then, we use the high-order backstepping method for overall stability design and control synthesis. Especially, by proposing a novel performance function, the tracking problem is transformed into ensuring the boundedness of the barrier function, and a fully actuated prescribed performance tracking controller is designed to achieve global stability while ensuring that tracking errors are preserved within the prescribed boundary. Finally, the simulation results illustrate the effectiveness of the proposed schemes by a practical example.
KW - Fully actuated system approach
KW - Prescribed performance control
KW - Uncertain strict-feedback system
UR - https://www.scopus.com/pages/publications/105017773899
U2 - 10.1109/FASTA65681.2025.11138938
DO - 10.1109/FASTA65681.2025.11138938
M3 - 会议稿件
AN - SCOPUS:105017773899
T3 - Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025
SP - 1766
EP - 1772
BT - Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025
Y2 - 4 July 2025 through 6 July 2025
ER -