Open AccessImproved prescribed performance constraint control for a strict feedback non‐linear dynamic system
Author(s) -
Han Seong Ik,
Lee Jang Myung
Publication year - 2013
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2013.0181
Subject(s) - control theory (sociology) , constraint (computer aided design) , output feedback , computer science , feedback control , control (management) , control engineering , linear system , control system , mathematics , engineering , artificial intelligence , geometry , mathematical analysis , electrical engineering
An improved prescribed performance control using a backstepping technique and adaptive fuzzy is proposed for a strict feedback nonlinear dynamic system. A new virtual variable was defined to generate the virtual control that forces the tracking errors to fall within prescribed boundaries, and an adaptive fuzzy system was used to obtain required approximation performances. A strict feedback controller and adaptive laws for estimating the unknown non‐linear function were designed to avoid a singularity problem and calculation of the explosive number of terms generated by the error transformations of conventional error constraint method and the recursive steps of traditional backstepping control. Lyapunov stability analysis confirmed the boundedness and convergence of the closed‐loop system. The prescribed error constraint performance of the proposed control scheme was validated by applying it to control the position of a second‐order non‐linear system and a robot manipulator.