Prescribed performance dynamic surface control for nonlinear systems subject to partial and full state constraints

Highlights：

• In comparison with the existing results concerning the methods of coping with the state constraints, we present a more beneficial control method in which the state constraint variables are tackled with the constructed funnel error variables rather than the conventional BLF method.

• The performance metric cannot be prescribed in the existing results. With the control method of this paper, we can guarantee that the steady error and convergence rate satisfy the prescribed performance metrics, and the infringements of state constraints never happen simultaneously.

• To verify the feasibility of the scheme proposed, we discuss the prescribed performance control issues for NSs with partial and full state constraints, respectively. Under the framework of Lyapunov stability, all closed-loop variables can be SGUUB in each case.