Robust Prescribed Performance Control of Nonlinear Systems With Unknown Odd Powers.

Area of Science:

• Control Systems Engineering
• Nonlinear Dynamics
• Robotics

Background:

• Reference tracking in nonlinear systems is challenging, especially with unknown odd powers.
• Existing control methods often fail when system parameters or their bounds are unknown.

Purpose of the Study:

• To develop a robust prescribed performance control strategy for lower-triangular nonlinear systems with unknown odd powers.
• To overcome limitations of existing methods that require knowledge of system parameters.

Main Methods:

• Utilized a robust prescribed performance control strategy.
• Employed barrier functions to manage tracking and intermediate errors.
• Applied constraint analysis by contradiction for stability verification.

Main Results:

• Achieved guaranteed tracking error convergence within a predefined bound.
• Demonstrated inherent robustness against unknown odd powers, uncertainties, and disturbances.
• Showcased control simplicity, eliminating the need for parameter identification or disturbance estimation.

Conclusions:

• The proposed control strategy is effective for nonlinear systems with unknown odd powers.
• The method offers robustness and simplicity, outperforming existing techniques.
• Simulation results validate the theoretical findings and practical applicability.