Command filtered adaptive tracking control of nonlinear systems with prescribed performance under time‐variant parameters and input delay

Abstract

In this article, a command filtered asymptotic adaptive prescribed performance control method is presented for nonlinear systems with time-variant parameters, input delay, and external disturbances. The feature of the concerned system is more general and practical, which makes the controller development more complicated. By exquisitely constructing a set of auxiliary systems, both the command filtered errors and input delay are actively compensated simultaneously. Then a smooth nonlinear term with an updated gain is introduced into the controller design to concurrently compensate for time-variant parameters and external disturbances. With the integration of the command filtered technique, the adaptive control and the prescribed performance function, a command filter-based adaptive prescribed performance control framework is skillfully exploited, in which tracking errors of all the states are restricted into the preset regions. Based on the Lyapunov theory, both the transient and zero-error asymptotic convergence performance can be guaranteed with the developed control method. Finally, simulation results demonstrate the preponderance of the exploited approach.