Expansive Errors-based Fuzzy Adaptive Prescribed Performance Control by Residual Approximation

This paper is concerned with an expansive errors-based fuzzy adaptive prescribed performance control of a class of MIMO nonlinear systems in the presence of unknown interconnection nonlinearities using fuzzy residual approximation technique. Based on an newly defined expansive error, residual nonlinearities' fuzzy approximation scheme is proposed. The merits of designed control can be presented as twofold: \textit{i)}, by incorporating an expansive errors-based technique into pioneering prescribed performance control methodology, the defined intermediate and output tracking errors are kept within the regions represented by preassigned functions and control parameters simultaneously, and \textit{ii)}, expansive errors-related residual nonlinearity is approximated by fuzzy logic systems, which further ameliorates the output tracking performance by compensating the affects raised by composite inner and interconnection nonlinearities among subsystems. With the designed expansive errors-based fuzzy adaptive prescribed performance control, all the closed-loop signals are kept bounded in the sense of Lyapunov stability theorem. Comparative simulation studies are presented to verify the effectiveness and advantages of theoretical findings.