State-dependent extensible prescribed performance controller for waverider vehicle with actuator saturation

In order to address the attitude tracking constraint and actuator saturation for waverider vehicle, a state-dependent extensible prescribed performance controller is designed in this paper. Firstly, a novel extensible performance function is developed by integrating a benchmark function, an anti-saturation term, and a non-singular term. The benchmark function is used to restrict transient and steady-state performance of tracking error. Specially, it can make tracking error convergence to steady-state range within prescribed time. The anti-saturation term can adaptively expand function boundary to deal with saturation problem without additional anti-saturation compensator. Concurrently, the non-singular term ensures that tracking error remains strictly within the evolving boundary, effectively eliminating singularity problem that could lead to controller failure. Then, the state-dependent extensible prescribed performance controller, which combines extensible performance function with mollified state-dependent algorithm is designed for waverider vehicle. Especially, the mollified state-dependent algorithm can reduce chattering by introducing a mollified function, and ensure high-precision convergence of attitude within fixed time. Finally, comparative simulations on a waverider vehicle model demonstrate the superior performance and robustness of the proposed controller.