This article proposes an adaptive prescribed performance tracking control methodology for a class of strict-feedback Multiple Inputs and Multiple Outputs nonlinear systems. A combination of backstepping technique and the generalized fuzzy hyperbolic model was used in recursive design of adaptive controller. A novel performance constraint function guarantees the tracking control performance. Lyapunov stability analysis proves that the designed controller can ensure the predefined transient and all signals within the closed-loop systems are semiglobally uniformly ultimately bounded. In the end, simulation results illustrate the validity of the proposed approach.
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