Adaptive Fault-Tolerant Control With Global Prescribed Performance of Strict-Feedback Systems

This article investigates the output tracking control problem of nonlinear strict-feedback systems subject to performance constraints and actuator faults. By introducing the ln-type performance functions, a global prescribed performance control (PPC) method is given on the basis of mapping and barrier error transformations, which is of simplicity and scalability, and can ensure the convergence of output tacking error to the prescribed region from any initial position. To compensate for the effect of actuator faults, parameter estimation technique is utilized together with error shifting modification to yield an adaptive controller that stabilizes the closed-loop system with small input overshoot. Simulation studies are implemented to demonstrate the effectiveness of the result, and also the advantage over the existing ones.