H∞ robust control with improved prescribed performance for a class of strict feedback nonlinear systems

In this paper, an H∞ robust prescribed tracking controller is designed for a class of strict feedback nonlinear systems based on backstepping technique. The improved prescribed performance constraint guarantees the transient and steady state performance of nonlinear system. The dynamic surface control is adopted to overcome the differential explosion problem in the backstepping design procedure. The impacts of uncertainties in the system can be attenuated by H∞ control. The stability analysis proves that the controller design procedure is simple with low complexity and robustness. Finally, the simulation results verify the effectiveness of the controller.