Abstract
SUMMARYWe consider the prescribed performance tracking problem of single‐input single‐output, unknown, nonaffine systems in the presence of exogenous disturbances. By prescribed performance, we mean that the tracking error should converge to a predefined arbitrarily small residual set, with convergence rate no less than a prespecified value, exhibiting maximum overshoot less than a sufficiently small preassigned constant. The aforementioned goal is obtained via an output error transformation, which incorporates the desired performance characteristics, and whose boundedness is proven a sufficient condition. Fuzzy systems are utilized to approximate the system uncertainties, and consequently, a smooth robust adaptive fuzzy controller is designed to achieve the target. Simulation studies clarify and verify the approach. Copyright © 2012 John Wiley & Sons, Ltd.
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