Guaranteeing prescribed performance is critical to maintaining system efficiency and reliability. The state-of-the-art approaches achieve different performance specifications with different control structures and settings. In this paper, we propose a novel control methodology to uniformly address the prescribed performance problem for uncertain multiple-input multiple-output (MIMO) nonlinear systems in the presence of actuator faults. By constructing a non-monotonic function transformation and an asymmetric barrier function, we recast the underlying problem into one that only needs for simple selection of certain design parameters. With such a treatment, different performance behaviors can be achieved under a single (unified) control framework without the requirement for alternating the control structure, making the design more user-friendly and implementation less demanding. Furthermore, by embedding the available information on the state-dependent diagonal matrix into the filtered-error-like design procedure, the obstacle of ensuring the controllability of the closed-loop system, caused by the actuator faults and performance behaviors, is circumvented. Both theoretical analysis and numerical simulation demonstrate the effectiveness and benefits of the proposed method.

保证规定的性能对于保持系统效率和可靠性至关重要。最先进的方法通过不同的控制结构和设置实现不同的性能规范。在本文中，我们提出了一种新颖的控制方法，以统一解决存在执行器故障时不确定的多输入多输出 (MIMO) 非线性系统的规定性能问题。通过构建非单调函数变换和非对称障碍函数，我们将潜在问题重铸为仅需要简单选择某些设计参数的问题。通过这样的处理，可以在单个（统一的）控制框架下实现不同的性能行为，而无需交替控制结构，使设计更加用户友好，实施要求更低。此外，通过将可用信息嵌入到状态相关的将对角矩阵引入类似过滤误差的设计过程中，避免了由执行器故障和性能行为引起的确保闭环系统可控性的障碍。理论分析和数值模拟都证明了所提方法的有效性和优势。