Multi-Dimensional Taylor Network-Based Adaptive Funnel Tracking Control of a Class of Nonlinear Systems With Prescribed Performance

This paper presents an adaptive funnel control combined with multi-dimensional Taylor Network (MTN) for the prescribed tracking performance of a class of nonlinear systems. In order to make the tracking error satisfies the prescribed performance regarding the transient and steady state responses, a funnel variable is introduced and merged into the controller design. MTNs are employed to handle the nonlinear functions of systems, and an adaptive controller is constructively designed by the backstepping technique. It is proved that all the signals of the closed-loop system are bounded as well as the tracking error converges to a small neighborhood of the origin. Two examples are provided to illustrate the effectiveness of the control scheme proposed in this paper.