This paper is devoted to the practical tracking control with prescribed transient performance for a class of uncertain Euler-Lagrange (EL) equations. Remarkably, the system allows serious nonparametric uncertainties since all the system matrices are unknown and do not necessarily have known bounds. Moreover, the reference trajectory to be followed is more general since it does not necessarily have known bound or require to be twice-continuously differentiable but those of literature must do. For this, a funnel-based control scheme is proposed to overcome the serious uncertainties, and in turn to achieve certain prescribed closed-loop performance. Specifically, a funnel to which the tracking error belongs is first skillfully constructed with the aid of a time-varying function about a prescribed tracking accuracy parameter. Based on the funnel, a time-varying controller is designed which guarantees that all the closed-loop system signals are bounded while the tracking error evolves in the funnel set, that is, the system output tracks the reference trajectory with the prescribed convergence rate before the prescribed time. Finally, two application examples are used to validate the effectiveness of the theoretical results.

本文针对一类不确定的Euler-Lagrange（EL）方程，研究了具有规定瞬态性能的实际跟踪控制。值得注意的是，该系统允许严重的非参数不确定性，因为所有系统矩阵都是未知的，并且不一定具有已知范围。而且，要遵循的参考轨迹是更一般的，因为它不一定具有已知界限，也不需要要求两次连续可微，但是文献必须做到。为此，提出了一种基于漏斗的控制方案，以克服严重的不确定性，进而实现某些规定的闭环性能。具体地，首先借助于时变函数围绕预定的跟踪精度参数熟练地构造跟踪误差所属的漏斗。根据渠道，设计了一个时变控制器，该控制器可确保在漏斗集中跟踪误差发生时，所有闭环系统信号都受到限制，也就是说，系统输出在规定的时间之前以规定的收敛速率跟踪参考轨迹。最后，使用两个应用实例来验证理论结果的有效性。