A Low-Complexity Control Method with Guaranteed Performance for Nonlinear Large-Scale Non-Triangular Structure Systems

摘要

This work focuses on low-complexity prescribed performance control (PPC) for nonlinear large-scale non-triangular- structured dynamics whose system nonlinearities and control gain functions are relaxed to rely on the whole state vector. The peculiarity of this extended class is that the restrictive assumption that the unknown nonlinear functions must satisfy Lipschitz or setting bounding function conditions is removed and only the continuity of nonlinearities is required. A novel low-complexity prescribed performance control method is skillfully incorporated into backstepping technique so as to guarantee closed-loop stability while some transient and steady state performances can be also achieved. Different from the state of the art has focused on the PPC method, neither approximators (neural networks and fuzzy logic systems) nor adaptation technique are employed in the control design which alleviate the computation burden.