Global prescribed-time control for a class of fully actuated nonlinear systems

Pengju Ning, Changchun Hua and Hao Li

International Journal of Systems Science, 2025, vol. 56, issue 13, 3146-3155

Abstract: This paper addresses the prescribed-time stabilisation problem for a class of fully actuated nonlinear systems by utilising a unique prescribed-time adjustment function and a solution-parameter Lyapunov function. We introduce a control scheme that is tailored for these systems and offers simplicity and streamlined design compared to backstepping-based methods. Furthermore, we develop an adaptive control strategy for systems with uncertain parameters, introducing a time-varying adaptive controller that ensures stability within a predetermined timeframe. We validate the effectiveness of our approach through two simulation examples.

Date: 2025
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DOI: 10.1080/00207721.2025.2505713

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