Abstract
In this paper, the issue of adaptive control design with full error constraints for multi-input and multi-output (MIMO) nonlinear systems is investigated. By combining nonlinear filters and an adaptive back-stepping control scheme, a novel dynamic surface control (DSC) scheme is presented. Different from the DSC scheme with the traditional linear filter, the proposed DSC not only solves the inherent problem of computational complexity explosion, but also enhances the control property. In addition, in order to further enhance the tracking performance understructure the fixed-time prescribed performance, a novel barrier Lyapunov function is proposed by considering the transform error constraint based on the fixed-time prescribed performance functions (FTPPF). The design control scheme can ensure that all the dynamic errors can be converged in predefined bounds within a fixed time. By choosing the barrier Lyapunov function, the stability of the closed-loop system is proof. Finally, the validity and innovation of the proposed strategy are verified by numerical practical simulation examples.
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