Robust Output Tracking Control of Uncertain Nonaffine Systems With Guaranteed Tracking Error Bounds

This paper considers the output tracking problem for uncertain nonaffine systems. A robust output tracking controller for a class of uncertain nonaffine strict-feedback systems with guaranteed tracking error bounds is proposed. First, a diffeomorphism is employed to convert the strict-feedback nonaffine system with mismatched uncertainties into a feedback linearization nonaffine system (FLNS). Second, for the transformed FLNS, an error transformation and sliding surface technique are combined to transform the constrained tracking problem of a high-order system into an unconstrained stabilization problem of a first-order system when visualizing the guaranteed tracking error bound as a tracking error constraint. Then, a saturated approximate dynamic inversion scheme and an extended state observer are combined to achieve the stabilization of the transformed first-order nonaffine system. The stability of the closed-loop system is analyzed rigorously and it is sufficient to guarantee that the tracking error constraint can be achieved and all system states are semi-globally uniformly bounded for the original system. Simulation results clarify and verify the effectiveness of the proposed method.