Adaptive prescribed-time tracking control for uncertain nonlinear systems with full state constraints

This paper investigates the adaptive tracking control in a prescribed-time for a class of uncertain nonlinear systems with a full state constraint. Firstly, in order to restrict the state constraints, the barrier Lyapunov function is employed and parameter uncertainty is handled based on linear-in-the-parameters (LIP). A prescribed-time adaptive controller is then designed by backstepping to ensure that the closed-loop system can reach zero in a prescribed finite time under any given initial conditions. The prescribed-time is independent of the design of the parameters. Finally, two simulation examples verify the effectiveness and usability of the proposed method.