In this paper, an extended state observer-based adaptive prescribed performance control technique is proposed for a class of nonlinear systems with full-state constraints and uncertainties. An extraordinary feature is that not only the control problem of prescribed performance tracking and full-state constraints are solved simultaneously, but also the parametric uncertainties and disturbances are considered, which will make it difficult to design a stable controller. For this purpose, the extended state observer and adaptive technique are integrated to obtain estimations of disturbances and parameters. Then, based on the combination of prescribed performance and barrier Lyapunov function, a novel backstepping control scheme is developed with feedforward compensation of parameters and disturbances to ensure that the tracking error is kept within a specified prescribed performance bound without violation of full states at all times. Moreover, the boundedness of all signals in the closed-loop system is proved and asymptotic tracking can be realized if the disturbances are time-invariant. Finally, two simulation examples are performed to highlight the efficiency of the proposed approach.

在本文中，针对一类具有全状态约束和不确定性的非线性系统，提出了一种基于扩展状态观测器的自适应指定性能控制技术。一个非凡的特点是不仅同时解决了规定性能跟踪和全状态约束的控制问题，而且还考虑了参数不确定性和扰动，这使得设计稳定的控制器变得困难。为此，将扩展状态观测器和自适应技术相结合，以获得扰动和参数的估计。然后，基于规定性能和势垒李雅普诺夫函数的组合，开发了一种新颖的反步控制方案，对参数和干扰进行前馈补偿，以确保跟踪误差始终保持在指定的规定性能范围内，而不会始终违反完整状态。此外，证明了闭环系统中所有信号的有界性，如果扰动是时不变的，则可以实现渐近跟踪。最后，执行两个仿真示例以突出所提出方法的效率。