Prescribed performance control for MIMO stochastic discrete-time nonlinear systems in a strict-feedback form using a set of noisy measurements

Abstract

This paper presents a prescribed performance control for MIMO stochastic discrete-time nonlinear systems in a strict-feedback form using a set of noisy measurements. The prescribed performance control is proposed as follows. Transforming the un-constrained states into the constrained states, the proposed prescribed performance control with state constraints is designed based on the approach of backstepping control and the Lyapunov function without using approximate approaches. The nonlinear uncertainty is approximated as the fuzzy logic system based on the simplified extended single input rule modules to reduce the number of the fuzzy IF–THEN rules. The estimator to take the estimates for the unmeasurable states and the adjustable parameters is in a simplified structure designed. The effectiveness of the proposed approach is indicated through the simulation experiment of a simple numerical system.