Abstract This paper proposes a saturated output-feedback trajectory tracking controller for an autonomous tractor with N-trailer with guaranteed desired performance specifications. At first, an input-output model of the tractor with N-trailer system is presented by a proper selection of the output variables vector. Based on a prescribed performance technique, a nonlinear transformation between the constrained errors to unconstrained ones is used to develop an open-loop error dynamic model in terms of the unconstrained filtered tracking error. Then, a saturated neural adaptive input-output feedback linearizing controller with a nonlinear observer is proposed to stabilize the tracking errors to the vicinities of the zero with a guaranteed prescribed performance in the presence of model uncertainties while avoiding the velocity measurements and reducing the risk of the actuator saturation simultaneously. Finally, a semi-global uniform ultimate boundedness stability of the closed-loop control system is proved via Lyapunov’s direct method. At last, a computer simulation example will be provided to demonstrate the controller effectiveness for practical applications.

中文翻译：

---

具有保证性能的 N 型拖拉机的输出反馈控制

摘要 本文提出了一种用于具有 N 拖车的自主牵引车的饱和输出反馈轨迹跟踪控制器，具有保证的所需性能规格。首先，通过正确选择输出变量向量来呈现带有N拖车系统的拖拉机的输入 - 输出模型。基于规定的性能技术，约束误差到无约束误差之间的非线性变换用于根据无约束滤波跟踪误差开发开环误差动态模型。然后，提出了一种具有非线性观测器的饱和神经自适应输入-输出反馈线性化控制器，以在存在模型不确定性的情况下以有保证的规定性能将跟踪误差稳定在零附近，同时避免速度测量并降低执行器的风险同时饱和。最后，通过李雅普诺夫直接法证明了闭环控制系统的半全局一致极限有界稳定性。最后，将提供一个计算机仿真实例来证明控制器在实际应用中的有效性。