Global Model-Free Prescribed Performance Asymptotic Tracking Control for MIMO Nonlinear Systems with Unknown Sensor Error

The global model-free prescribed performance tracking control problems are studied in this note. A low-computation control algorithm is developed for a class of uncertain multi-input multi-output (MIMO) uncertain systems with sensor error. The error are described as unknown time-varying functions. Under the circumstances, we propose a global saturation function to eliminate the restriction for the initial condition. Moreover, the proposed fixed-time performance function ensures the transient performance of the tracking error. Our algorithm does not require any prior knowledge for nonlinear functions of the system, has intrinsic robustness against model uncertainties, can ensure that the tracking error asymptotically converge to zero. Finally, the numerical simulation is presented to confirm the availability of the developed control algorithm.