Predefined Performance Control for Saturation Nonlinear Systems in Finite-Time

This paper investigates predefined performance control (PPC) in finite-time for nonlinear systems under saturation nonlinearity and immeasurable states. A modified finite-time performance function is devised to obtain expected performance indexes within finite-time. Meanwhile, the impact of input saturation is overcome by using mean-value theorem. By integrating backstepping method with adaptive technique, an observer-based PPC algorithm is presented, which guarantees that tracking error converges into predefined range within finite-time. Finally, the validity of presented control algorithm is demonstrated via simulation.