This paper studies a new procedure for robust tracking of nonlinear systems. This procedure is based on the combination of the sliding mode control and the funnel control, which in addition to the robust performance of the closed-loop system in the face of model uncertainties and/or external disturbances also leads to improvement of the characteristics of the transient responses. Using funnel control and the appropriate choice of the funnel can affect the convergence rate and overshoot. In this regard, a theorem has been presented and the effective performances of the suggested controller have been guaranteed in various respects based on exact mathematical analysis. Simulations have also been carried out to illustrate the efficiency of the proposed approach and to verify the theoretical achievements of the paper despite model uncertainties and external disturbances.

中文翻译：

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通过基于漏斗的滑模控制具有瞬态改进的非线性系统的鲁棒输出跟踪

本文研究了一种新的非线性系统鲁棒跟踪方法。该程序基于滑模控制和漏斗控制的结合，除了闭环系统在模型不确定性和/或外部扰动下的鲁棒性能外，还导致了闭环系统特性的改进。瞬态响应。Using funnel control and the appropriate choice of the funnel can affect the convergence rate and overshoot. 在这方面，已经提出了一个定理，并基于精确的数学分析在各个方面保证了所建议控制器的有效性能。