On Prescribed Performance ADRC for a Class of Nonlinear Systems with Uncertain Control Direction

This paper considers the prescribed performance tracking problem for nonlinear systems with uncertain control direction. A prescribed performance active disturbance rejection control(PPADRC) design added by a monitoring function module is proposed. To deal with the uncertain control direction, a swithcing scheme based on a monitoring function is embedded into the existing PPADRC. Compared with the existing monitoring function method, the prescribed performance function directly performs the role of the monitoring function, which greatly reduces the burden of monitoring function design in the existing method. Numerical simulations are performed to verify the effectiveness of the proposed control scheme.