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Adaptive prescribed-time tracking control with guaranteed performance for uncertain nonlinear systems with arbitrary initial errors
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DOI：10.1016/j.isatra.2026.04.032.png)
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Abstract
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• A novel unified adaptive prescribed-time prescribed-performance control (APTPPC) framework. • Exact prescribed-time convergence with guaranteed transient performance is achieved. • A generalized tanh-based error transformation handles arbitrary initial errors. • The proposed method eliminates dependence on restrictive initial conditions. • An enhanced adaptive backstepping controller ensures system stability. • Superior performance is verified on a single-link manipulator.
Keywords:
prescribed-time control
prescribed-performance control
adaptive backstepping
nonlinear systems
error transformation
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6.5
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5.9K
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