Prescribed Performance Tracking Control of a Class of Uncertain Pure-Feedback Nonlinear Systems With Input Saturation
- 8 January 2018
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics: Systems
- Vol. 50 (5) , 1733-1745
Abstract
In this paper, we address the issue of the prescribed performance control of a class of pure-feedback nonlinear systems with uncertainties and input saturation. The active disturbance rejection control is adopted at each step of the backstepping technology. In detail, the extended state observer is employed to estimate unknown functions to compensate for uncertain items. The tracking differentiator is used to take place of the derivative of the virtual control signals, which overcomes the repeated differentiations of nonlinear functions. The control input limitation is handled with the auxiliary system, and predefined tracking performance functions are utilized to improve the tracking accuracy and speed. By means of the input-to-state stability and Lyapunov stability theory, the tracking error is proven to converge to arbitrarily small neighborhood of the origin. Two simulation examples are provided to demonstrate the effectiveness of the presented results.Keywords
Funding Information
- National Natural Science Foundation of China (61533010, 61503194, 61633016, 61374055)
- Natural Science Foundation of Jiangsu Province (BK20140877)
- Research and Development Program of Jiangsu (BE2016184)
- Project through the China Postdoctoral Science Foundation (2015M571788)
- Jiangsu Planned Projects for Postdoctoral Research Funds (1402066B)
- Key University Natural Science Research Project of Jiangsu Province (17KJA120003)
- Jiangsu Provincial Government Scholarship Program (2017-037)
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