This article considers the problem of output feedback funnel control for a class of uncertain nonlinear systems with arbitrary known relative degree. By utilizing the funnel control approach with a barrier Lyapunov function, a novel adaptive output feedback controller is constructed recursively, which accomplishes the output tracking with prescribed transient behavior. The developed control scheme features that the precise knowledge of system nonlinearities, including generally required bounding functions, is not needed. A physical example is performed to verify the effectiveness of the proposed theoretical findings.

中文翻译：

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具有任意相对度的不确定非线性系统的自适应输出反馈漏斗控制

本文考虑一类具有任意已知相对度的不确定非线性系统的输出反馈漏斗控制问题。通过利用带有障碍李雅普诺夫函数的漏斗控制方法，递归地构造了一种新颖的自适应输出反馈控制器，它以规定的瞬态行为完成输出跟踪。开发的控制方案的特点是不需要系统非线性的精确知识，包括通常需要的边界函数。执行物理示例以验证所提出的理论发现的有效性。