Prescribed Performance Control of MIMO Over-actuated Nonlinear Systems

This paper presents a control method for a class of first-order MIMO over-actuated nonlinear systems to solve the output tracking problem. Firstly, the virtual control matrix of the system is decomposed into a known bounded matrix with full row rank multiplied by completely unknown matrix. The controller is then yielded by multiplying the known matrix, the barrier function matrix and its partial derivatives matrix. The resulting controller guarantees the prescribed tracking performance and the boundedness of the signals in the closed loop. Finally, a simulation example is presented to demonstrate the feasibility and effectiveness of the proposed control scheme.