Asymptotic Tracking of Second-Order Nonsmooth Feedback Stabilizable Unknown Systems With Prescribed Transient Response

This article considers the asymptotic tracking control problem for a class of nonlinear systems subject to predefined constraints system response, such as maximum overshoot or minimum convergence rate. In particular, by employing discontinuous protocols and nonsmooth analysis, we extend previous results on funnel guarantee at same time trajectory tracking. We consider second-order that are affine in input, contain completely unknown nonlinear, vector fields, with no boundedness approximation/parametric factorization assumptions. Simulation verify theoretical findings.