Globally stable adaptive control with prescribed performance for a class of uncertain nonlinear nonaffine systems

In this paper, a globally adaptive control scheme with prescribed performance is investigated for nonlinear uncertain systems with nonaffine structures. By employing the prescribed performance approach, the output tracking problem with error constraints is converted into the unconstrained stabilization one, then a adaptive stable controller is developed via a novel backstepping procedure. It is shown that the boundedness of all the closed loop signals is ensured and the prescribed performance is reached. Finally, the feasibility of the proposed adaptive controller is validated through an illustrate example.