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<p>This paper proposes an adaptive prescribed performance control (PPC) scheme, utilizing command filter, for a class of non-strict feedback nonlinear systems subject to output constraints. Compared to traditional PPC methods, the advantages of the proposed approach are threefold. Firstly, by integrating time-varying boundary functions with a novel tuning function, the tracking error is guaranteed to meet prescribed transient and steady-state performance bounds without requiring a priori knowledge of the reference signal. Secondly, a proposed command filter effectively resolves the dual challenges of computational complexity and the potential singularity problem inherent in the conventional backstepping approaches, specifically the singularity arising from the analytic differentiation of virtual control laws. Thirdly, unlike existing finite-time or fixed-time control schemes, the proposed predefined-time control method eliminates the dependence of the settling time on initial conditions or complex design parameters. Furthermore, by integrating Lyapunov stability theory with fuzzy logic systems (FLS), a predefined-time fuzzy control scheme is developed. This scheme ensures the semi-global boundedness of all closed-loop signals within a predefined time and guarantees the convergence of the tracking error to a prescribed accuracy within a prescribed time. Finally, simulation results demonstrate the effectiveness of the proposed control scheme.</p>

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Prescribed Performance Adaptive Control for Uncertain Nonlinear Systems via Predefined-Time Command Filter

  • 期刊论文

  • 发表日期：

    2026年3月23日

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  • Ruishuang Yan,
  • Jieqing Tan,
  • Yangang Yao,
  • Yan Yao,
  • Peng Chen

摘要

This paper proposes an adaptive prescribed performance control (PPC) scheme, utilizing command filter, for a class of non-strict feedback nonlinear systems subject to output constraints. Compared to traditional PPC methods, the advantages of the proposed approach are threefold. Firstly, by integrating time-varying boundary functions with a novel tuning function, the tracking error is guaranteed to meet prescribed transient and steady-state performance bounds without requiring a priori knowledge of the reference signal. Secondly, a proposed command filter effectively resolves the dual challenges of computational complexity and the potential singularity problem inherent in the conventional backstepping approaches, specifically the singularity arising from the analytic differentiation of virtual control laws. Thirdly, unlike existing finite-time or fixed-time control schemes, the proposed predefined-time control method eliminates the dependence of the settling time on initial conditions or complex design parameters. Furthermore, by integrating Lyapunov stability theory with fuzzy logic systems (FLS), a predefined-time fuzzy control scheme is developed. This scheme ensures the semi-global boundedness of all closed-loop signals within a predefined time and guarantees the convergence of the tracking error to a prescribed accuracy within a prescribed time. Finally, simulation results demonstrate the effectiveness of the proposed control scheme.