Practical Prescribed-Time Tracking Control of the Air-Bearing Testbed With Output Constraints

This paper studies the practical prescribed-time tracking control problem for the air-bearing testbed system with output constraints. By constructing the practical prescribed-time function and time-varying barrier Lyapunov functions, the time-varying controller is designed. It is proved that the proposed controller can make tracking errors converge to an arbitrarily small neighbourhood of zero in a prescribed time under the disturbance, and the control signals are bounded. Finally, the effectiveness of the proposed method is validated by a numerical simulation of the air-bearing testbed.