Adaptive Asymptotic Tracking With Global Performance for Nonlinear Systems With Unknown Control Directions

This article presents a global adaptive asymptotic tracking control method, capable of guaranteeing prescribed transient behavior for uncertain strict-feedback nonlinear systems with arbitrary relative degree and unknown control directions. Unlike most existing funnel controls that are built upon time-varying feedback gains, the proposed method is derived from a tracking error-dependent normalized function and a barrier function, together with a time-varying scaling transformation, leading to an improved prescribed performance control solution with the following features: 1) the developed control is embedded with normalized error based adaptive parameter tuning and is able to ensure asymptotic tracking; 2) given transient performance is guaranteed in that the tracking error preserves in the prescribed boundary for <inline-formula><tex-math notation="LaTeX">$\forall t\geq 0$</tex-math></inline-formula>; and 3) it is able to cope with nonlinear systems with arbitrary relative degree, mismatched uncertainties, and unknown control directions. Both theoretical analysis and numerical simulations verify the effectiveness and benefits of the proposed method.