Prescribed performance tracking control for a class of nonlinear system considering input and state constraints

This article develops a new anti-saturation tracking approach for effectively controlling a type of state-constrained systems under actuator failure. To construct a feedback control loop possessed the predetermined indexes, an auxiliary variable incorporated with a performance guider is first introduced into the design process. Then, a robust fault tolerant control law with the variable-gains is devised to guarantee that the tracking errors can be suppressed in the specified range after a predetermined time. In order to dispose of the input constraint problem, an anti-saturation algorithm is designed without compromising the prescribed capability indexes in control process, it is shown that the proposed feedback control loop can efficiently fulfill the fast and accurate requirement of the constraint tasks. Finally, computer simulation related with robot manipulator is taken to evaluate the validity of designed method.