Adaptive Prescribed-Time Tracking Control for Strict-Feedback Nonlinear Systems: A Novel Full Errors Approach

In this article, a novel full errors prescribed-time tracking control issue is studied for strict-feedback nonlinear systems with compounded perturbations and input constraints. The conventional error constraint methods that require adjusting 2ndesign parameters to ensure all errors enter the specified accuracy within a preassigned settling time greatly increase the complexity of controller design. By blending the modified shifting function and the barrier Lyapunov function, the presented control scheme only needs to adjustnparameters to achieve full errors prescribed-time convergence. Besides, the dead-zone input is divided into a linear term and an interference-like term. A disturbance observer is devised to estimate and compensate the compounded perturbations, including external perturbations, fuzzy approximation errors and interference-like term, which significantly enhances the accuracy of the feedback compensation mechanism. It is proved that all signals of the closed-loop system are bounded. Finally, the availability of the proposed control strategy is testified via a simulation example of an RLC circuit.