Prescribed performance fuzzy control for strict-feedback system

This paper designs a prescribed performance adaptive fuzzy controller for nonlinear systems appearing input saturation. Using the property of fuzzy logic systems, the unknown nonlinear characteristics existing in the system is approximated. To address the input nonlinearity, that is, input saturation, an auxiliary system is introduced. Combining adaptive backstepping control technique and the fuzzy approach, a new fuzzy controller with adaptive parameters is constructed to guarantee all signals in the resulting closed-loop system to be bounded, the output signal can be driven to track the trajectory of the given reference signal and the tracking error to be within the prescribed range. Finally, simulation results are provided to verify the validity of the methodology proposed in this paper.