UDE-based funnel tracking control for a class of singular systems

This study focuses on the funnel tracking control for a class of singular systems (SSs) with unknown disturbances by integrating the uncertainty and disturbance estimator (UDE). First, a dynamic prescribed convergence rate dependent on both the funnel boundaries and tracking error is proposed to guarantee that the output tracking error strictly stays within the predefined performance funnel. Subsequently, an anti-disturbance funnel controller is designed by integrating this convergence rate with the UDE method. Notably, the UDE estimates and compensates for the bias of the error system instead of directly canceling disturbances, thereby ensuring both asymptotic tracking performance and transient performance. Finally, numerical and practical simulations demonstrate the efficacy of the proposed approach.