Prescribed performance controller with affine equivalent model for a class of unknown nonlinear discrete-time systems

摘要

The prescribed performance control is established for a class of unknown nonlinear discrete-time systems. The affine equivalent model is utilised for both positive and negative control directions by fuzzy-rules emulated networks. The tracking error converges to a small residual boundary inaugurated under prescribed performance according to model error and uncertainties. Furthermore, the robust gain developed by the proposed controller enhances the closed-loop performance over the unknown but bounded disturbance. The validation of the proposed scheme is verified by simulation results and the experimental system.