Robust model following control with prescribed accuracy for uncertain nonlinear systems

Abstract

This paper proposes a design method of robust controllers for a class of systems which contain uncertain nonlinear terms and bounded unknown disturbances. The distinguishing feature of our method is to achieve ( a) model following; ( b) the prescribed error transient response; and (c) the arbitrary tracking accuracy, simultaneously and independently, through the appropriate decoupling of the original control problem. Furthermore, the application of our design method to the robotic control is shown with some illustrative simulation results.