Prescribed Performance Robust Control For Uncertain Nonlinear Nonaffine Systems With Hysteresis Input

In this paper, we investigate the prescribed performance control problem for multi-input multi-output (MIMO) uncertain nonlinear nonaffine systems subjected to hysteresis input uncertainties. Most of the existing research schemes use the compensation methods to deal with the impact of hysteresis, or only study explicit hysteresis models. We focus on how to cope with the controllability conditions, so that under the influence of a wide class of generalized hysteresis, we can still relax the system controllability conditions. By embedding some performance functions into the backstepping-like design idea and flexibly imposing controllability conditions, a robust control scheme is proposed. The prescribed performance control method we use reduces the computational complexity by avoiding the derivatives of virtual controllers and desired trajectory. As a result, the proposed control laws guarantee the boundedeness of all signals of the closed-loop system, with prescribed transient and steady-state tracking performance achieved. Finally, simulation studies are provided to verify and clarify this approach.