Low-Complexity Prescribed Performance Control of Uncertain MIMO Feedback Linearizable Systems

摘要

A continuous, state-feedback controller guaranteeing zero overshoot, preselected bounds on the minimum admissible convergence rate and maximum allowable steady-state values of the output tracking error is proposed for a class of uncertain, multi-input, multi-output nonlinear systems. Contrary to the current state-of-the-art, a decisive step towards minimizing controller implementation complexity is taken by designing a static, approximation-free control scheme, defined by simple analytical expressions that scale well even for high relative degree systems. Simulations on a 2-dof robotic manipulator clarify and verify the approach.