Practical Prescribed Time Tracking Control With Bounded Time-Varying Gain Under Non-Vanishing UncertaintiesOACSTPCD

This paper investigates the prescribed-time control(PTC)problem for a class of strict-feedback systems subject to non-vanishing uncertainties.The coexistence of mismatched uncertainties and non-vanishing disturbances makes PTC syn-thesis nontrivial.In this work,a control method that does not involve infinite time-varying gain is proposed,leading to a practi-cal and global prescribed time tracking control solution for the strict-feedback systems,in spite of both the mismatched and non-vanishing uncertainties.Different from methods based on control switching to avoid the issue of infinite control gain that involves control discontinuity at the switching point,in our method a soft-ening unit is exclusively included to ensure the continuity of the control action.Furthermore,in contrast to most existing pre-scribed-time control works where the control scheme is only valid on a finite time interval,in this work,the proposed control scheme is valid on the entire time interval.In addition,the prior information on the upper or lower bound of gi is not in need,enlarging the applicability of the proposed method.Both the the-oretical analysis and numerical simulation confirm the effective-ness of the proposed control algorithm.