Adaptive prescribed performance tracking control of high-order uncertain nonlinear systems under full-state time-varying constraints

In this article, the adaptive finite time prescribed performance tracking control problem of a class of high-order uncertain nonlinear systems under full state time-varying constraints is addressed. By using the logarithmic function based nonlinear mapping technique rather than the barrier Lyapunov function based method, the obstacle of the full-state constraints is resolved, and the undesired "feasibility conditions" in controller design are eliminated. By improving the prescribed performance control method, the initial value problem is overcome, and the finite-time convergence of the tracking error can be ensured. Then, with the aid of the adding a power integrator method, an adaptive finite time prescribed performance tracking controller is designed, not only the tracking error but also the full states can be guaranteed to converge to a predefined constraint region in the predetermined time. Simulation examples are given to show the validness of the proposed control strategy.