Robust Tracking Control With Prescribed Performance for Nonlinear Systems With Matched and Unmatched Perturbations

The control problem of robust output tracking with prescribed performance for a class of nonlinear systems is considered in this paper to reject both matched and unmatched perturbations. A novel integral sliding hyperplane is studied, which guarantees that the output tracking performance satisfies the prescribed requirements from the beginning. Then, based on the equivalent control concept, the chattering issue is addressed by the proposed adaptation algorithm of the control gain. And when the adaptive gain is employed, the reachability and existence of the sliding mode are analyzed. Moreover, the proposed adaptive sliding mode controller is augmented with the dynamic surface control approach to compensate for the unmatched perturbations. Finally, using the proposed methods, the output tracking performance is tested by several numerical simulations for a robotic manipulators.