Adaptive Fuzzy Tracking Control for a Class of Uncertain Nonlinear Systems With Improved Prescribed Performance

Abstract

This article addresses the tracking control problem of uncertain nonlinear strict-feedback systems. First, to enhance the tracking performance of control system, an improved prescribed performance function (PPF) is constructed, which yields that the convergence accuracy of tracking error can reach a preset factor than that of the traditional PPF-based control method. Then, the fuzzy logic system (FLS) is used to approximate the unknown nonlinear dynamics on a compact set integrated by an ideal controller, from which an adaptive fuzzy control law is designed by combining the improved PPF and FLS. The stability of closed-loop system and the convergence of tracking error are analyzed in the Lyapunov sense. Finally, simulation and experimental results show the feasibility and effectiveness of the proposed method.