At present, one typical control strategy for guaranteeing transient and steady-state performance is funnel control and prescribed performance control. The strategy features completely discarding the system nonlinearities, even if they are completely known and available. Such an intrinsic feature requires the controller to produce a larger control effect to eliminate the negative impact caused by the high nonlinearities, leading to a conservative controller. In this paper, we fully take advantage of known information on nonlinearities in control design, instead of completely discarding it as done in funnel control. Particularly, we leverage adaptive techniques (i.e., high-gain dynamic compensation) to deal with unknown system nonlinearities. Meanwhile, we integrate the tools of output feedback, tracking control, and the performance guarantee. As such, an adaptive output-feedback scheme is developed for global tracking with spatiotemporal performance specifications: arbitrarily given tracking accuracy and accuracy-ensured time. A simulation example supports the developed approach.

目前，保证瞬态和稳态性能的一种典型控制策略是漏斗控制和规定性能控制。该策略的特点是完全放弃系统非线性，即使它们是完全已知和可用的。这种固有特性要求控制器产生较大的控制效果，以消除高非线性带来的负面影响，从而导致控制器保守。在本文中，我们在控制设计中充分利用已知的非线性信息，而不是像漏斗控制那样完全丢弃它。特别是，我们利用自适应技术（即高增益动态补偿）来处理未知的系统非线性。同时，我们集成了输出反馈、跟踪控制、性能保证等工具。因此，开发了一种自适应输出反馈方案，用于具有时空性能规范的全局跟踪：任意给定的跟踪精度和精度保证时间。仿真示例支持所开发的方法。