A low-complexity global approximation-free control scheme with prescribed performance for unknown pure feedback systems

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Prescribed Performance Fault-Tolerant Control of Uncertain Nonlinear Systems With Unknown Control Directions (2017, background): “1) Owing to unknown control directions, the existing error transformation approaches in [12],[13], and [19] cannot be utilized directly.”
Observer-Based Fuzzy Adaptive Event-Triggered Control for Pure-Feedback Nonlinear Systems With Prescribed Performance (2019, background): “Prescribed Performance According to [25], the prescribed performance can be described as follows: −ηminω(t) < υ(t) < ηmaxω(t) ∀t ≥ 0 (31) where ηmin and ηmax are two positive design parameters, ω(t) is a prescribed performance function, and ω(t) = (ω0 − ω∞) e−σ t + ω∞ along with ω(t) : R+ → R+\{0}, ”