Self-organizing approximation based control with ℒ1 transient performance guarantees

This paper considers tracking control for a n th order system with unknown nonlinearities. A performance dependent self-organizing approximation approach is proposed. The self-organizing approximation based controller monitors the tracking performance and adds basis elements only as needed to achieve the tracking specification. The tracking performance is guaranteed not only in steady state but also in transient with a L₁ bound. The low-pass filter used in this control design avoids the high-frequency oscillation while ensuring transient performance. To show the effectiveness of the proposed controller, a numerical example is included.