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<p>This paper addresses a tracking control problem of uncertain nonlinear systems. First, an ideal controller is used to ensure the boundedness of the estimated unknown nonlinear dynamics, based on which an adaptive tracking controller with an asymptotically convergent prescribed performance function (ACPP) is designed. Note that the traditional prescribed performance control method can only guarantee that the system tracking error converges to a preset range rather than zero. To achieve the asymptotic prescribed performance of tracking error, an asymptotic prescribed performance-based control method is proposed, which yields that the tracking error converges to zero. Then the stability of the closed-loop system is verified to be uniformly ultimately bounded. Based on this conclusion, the asymptotic convergence of tracking error is obtained. Finally, simulation and experimental results demonstrate that the convergence accuracy of tracking error within a given time is improved by about <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(e^5, 9\times 10^5\)</EquationSource> <EquationSource Format="MATHML"><math> <mrow> <msup> <mi>e</mi> <mn>5</mn> </msup> <mo>,</mo> <mn>9</mn> <mo>×</mo> <msup> <mn>10</mn> <mn>5</mn> </msup> </mrow> </math></EquationSource> </InlineEquation> times in simulation and <InlineEquation ID="IEq2"> <EquationSource Format="TEX">\(e^{2.2}, 2.18\)</EquationSource> <EquationSource Format="MATHML"><math> <mrow> <msup> <mi>e</mi> <mrow> <mn>2.2</mn> </mrow> </msup> <mo>,</mo> <mn>2.18</mn> </mrow> </math></EquationSource> </InlineEquation> times in experiment compared to the traditional PP-based and Barbalat Lemma-based control methods, respectively.</p>

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Asymptotic prescribed performance-based adaptive tracking control for a class of uncertain nonlinear systems

  • 期刊论文

  • 发表日期：

    2026年5月13日

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  • Pengshuai Dai,
  • Faxiang Zhang

摘要

This paper addresses a tracking control problem of uncertain nonlinear systems. First, an ideal controller is used to ensure the boundedness of the estimated unknown nonlinear dynamics, based on which an adaptive tracking controller with an asymptotically convergent prescribed performance function (ACPP) is designed. Note that the traditional prescribed performance control method can only guarantee that the system tracking error converges to a preset range rather than zero. To achieve the asymptotic prescribed performance of tracking error, an asymptotic prescribed performance-based control method is proposed, which yields that the tracking error converges to zero. Then the stability of the closed-loop system is verified to be uniformly ultimately bounded. Based on this conclusion, the asymptotic convergence of tracking error is obtained. Finally, simulation and experimental results demonstrate that the convergence accuracy of tracking error within a given time is improved by about \(e^5, 9\times 10^5\) e 5 , 9 × 10 5 times in simulation and \(e^{2.2}, 2.18\) e 2.2 , 2.18 times in experiment compared to the traditional PP-based and Barbalat Lemma-based control methods, respectively.