Adaptive Fault-Tolerant Control With Global Prescribed Performance of Strict-Feedback Systems

This article investigates the output tracking con-trol problem of nonlinear strict-feedback systems subject toperformance constraints and actuator faults. By introducing theln-type performance functions, a global prescribed performancecontrol (PPC) method is given on the basis of mapping andbarrier error transformations, which is of simplicity and scala-bility, and can ensure the convergence of output tacking error tothe prescribed region from any initial position. To compensatefor the effect of actuator faults, parameter estimation techniqueis utilized together with error shifting modification to yield anadaptive controller that stabilizes the closed-loop system withsmall input overshoot. Simulation studies are implemented todemonstrate the effectiveness of the result, and also the advantageover the existing ones.