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

Summary 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.