Tracking control of nonaffine systems with prescribed transient performance

This paper investigates the tracking control problem of a class of uncertain nonaffine systems. To achieve global tracking with guaranteed transient performance, a control strategy consisting of supervisory control and neural adaptive control is proposed. The supervisory sliding mode controller ensures that system states enter into a compact set exponentially and remain thereafter, and thereafter, the neural controller based on prescribed performance bound (PPB) is switched in. The global stability of system is proved by Lyapunov-based methodology. Simulation studies clarify and verify the approach.