A full state constrained prescribed performance controller design with constraints

For a class of nonlinear systems with constraints, a full-state constrained prescribed performance controller based on the command filtered is designed. By combining the adaptive backstepping technique, the constraint command filter is adopted to adapt the constraint and avoid the expansion of the calculation. Pseudo-control hedging techniques are combined with command filters to compensate for errors. And the full state of transient performance of the tracking error is analyzed. Based on the Lyapunov stability theory, the controller design is proposed. Simulation interpretation and verification methods.