Prescribed Performance Tracking Control for Uncertain Strict-Feedback Systems Using Fully Actuated System Approach

This paper introduces a novel approach to prescribed performance tracking control for uncertain multiple-input multiple-output (MIMO) mixed-order strict-feedback systems (SFSs) using the fully actuated system approach (FASA). The structure of the subsystems in uncertain MIMO mixed-order SFSs satisfies the fully actuated system model and the order of each subsystem is not necessarily the same. In each subsystem, a virtual controller is designed using FASA. Then, we use the high-order backstepping method for overall stability design and control synthesis. Especially, by proposing a novel performance function, the tracking problem is transformed into ensuring the boundedness of the barrier function, and a fully actuated prescribed performance tracking controller is designed to achieve global stability while ensuring that tracking errors are preserved within the prescribed boundary. Finally, the simulation results illustrate the effectiveness of the proposed schemes by a practical example.