Global Prescribed-Time Control Fully Actuated Nonlinear Systems

This paper studied the problem of prescribed-time control for fully actuated nonlinear system. Utilizing the prescribed-time adjustment function defined herein, along with the solution parameter Lyapunov function, we propose a prescribed-time control scheme for these fully actuated nonlinear systems. Compared to the prescribed-time control scheme based on the back-stepping method, the approach presented in this paper offers the benefits of brevity and simplicity in design. Furthermore, we explore the adaptive prescribed-time control for fully actuated nonlinear systems with uncertainties. In this context, we design a novel adaptive time-varying controller to ensure the prescribed-time stability of these uncertain systems. Finally, two simulation examples are givento illustrate the effectiveness of the proposed control scheme.