Adaptive Prescribed Performance Control with Performance-Triggered Batch Least-Squares Identifier

This paper focuses on adaptive prescribed performance control for nonlinear systems with parametric uncertainties. The proposed control scheme incorporates a certainty equivalence controller, a batch least-squares identifier (BaLSI) and a performance triggered condition. The off-line BaLSI, which utilizes all the previously appeared excitation information for parameter updating, is activated as intervals by the performance triggered condition. The effects of the parametric uncertainties are eliminate in finite times of updating, and the closed-loop system can achieve the prescribed performance without suffering from stiff differential equation problem. The simulation results are provided to demonstrate the effectiveness of the proposed control scheme.