Achieving Prescribed Performance for Euler-Lagrange Systems with Impulsive Behaviour

We consider the problem of controlling, with prescribed performance, uncertain Euler-Lagrange systems in the presence of aperiodic impulses affecting the system state. Between any two consecutive impulse time instants, we guarantee that the output tracking error converges to a predefined and arbitrarily small region of interest, within a prespecified fixed time. Furthermore, all signals in the closed-loop are bounded. The magnitude of the impulses and their time of appearance are unknown in advance. Yet a known minimum time interval is required to elapse, before the appearance of a new impulse. Simulation results clarify and verify the theoretical findings.