Prescribed-Time Tracking Control of MIMO Nonlinear Systems With Nonvanishing Uncertainties

It is highly desirable yet challenging to achieve zero-error tracking within a given short time period for uncertain multi-input–multi-output (MIMO) nonlinear systems. Previous results are primarily state-regulation oriented and are valid only for single-input single-output linear systems or nonlinear systems in normal-form. This note presents a tracking control solution for high-order MIMO nonlinear systems in strict-feedback-like form. The proposed control is able to achieve precise tracking within the prescribed time irrespective of initial conditions in the presence of mismatched uncertainties and nonvanishing disturbances.