A novel methodology for uncertain nonlinear tracking control systems: Exponential convergence manifold approach

In this paper, we present a novel methodology, for exponential convergence manifold control (ECMC) methodology, to investigate the tracking control of a class of uncertain systems. An ECMC law will drive the plant's error trajectory exponentially not only to a specific manifold in the error space, but also to the origin, if the exponential convergence condition is satisfied. A numerical example is also provided to illustrate the methodology