Prescribed Performance Tracking for Uncertain MIMO Pure-Feedback Systems With Unknown and Partially Nonconstant Control Directions

• 成果类型: Article
• 署名作者: Aforozi, Thomais A.; Rovithakis, George A.
• 署名单位: Aristotle University of Thessaloniki
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3396075
• 发表日期: 2024
• 页码: 7285-7292
• 关键词: trajectory; MIMO communication; Complexity theory; steady-state; CONVERGENCE; control design; transient analysis; Prescribed performance tracking; uncertain nonaffine MIMO systems; unknown control directions (UCD)

摘要

In this article we consider designing tracking controllers for MIMO, pure-feedback systems, having unknown and partially nonconstant control directions. The proposed control scheme is static, continuous, and requires no hard calculations, analytic or numerical, to produce the control signal. Significant attribute is the enforcement of prescribed performance bounds in terms of steady-state accuracy and convergence rate. No prior knowledge regarding system nonlinearities is required and no high-order derivatives of the desired output trajectories are incorporated in the controller design. Simulation results clarify and verify the theoretical findings.