Global Prescribed Performance Control of MIMO Nonlinear Systems

This paper is concerned with the tracking con-trol problem with prescribed performance for multiple-input and multiple-output (MIMO) nonlinear systems. The prescribed performance means that the system outputs track the given trajectories with the arbitrarily predefined speed of response and accuracy. Most prescribed performance control (PPC) solutions for MIMO systems fail to achieve global tracking performance. Therefore, global performance envelops are constructed to con-fine the tracking errors, and the barrier functions are used to combat these errors. Consequently, a robust PPC scheme is developed. In this way, the predefined performance is achieved for any initial condition. The simulation results demonstrate the effectiveness of our approach.