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    Area of Science:

    • Control Systems Engineering
    • Robotics
    • Nonlinear Dynamics

    Background:

    • Fully actuated systems (FASs) face challenges from nonlinear uncertainties, input disturbances, and matrix perturbations.
    • Conventional and finite-time prescribed performance control (PPC) methods often have initial value constraints.

    Purpose of the Study:

    • Develop a robust adaptive tracking control scheme for FASs.
    • Achieve adjustable transient and steady-state performance with prescribed-time convergence.
    • Eliminate initial value constraints inherent in traditional PPC methods.

    Main Methods:

    • A novel prescribed-time PPC scheme is developed, integrating FAS control with speed transformation.
    • A basic controller is designed, creating a closed-loop system with a dominant linear part.
    • Speed transformation is applied to convert the PPC problem into an asymptotic convergence problem, removing initial value constraints.
    • Auxiliary control input and adaptive laws with time-varying functions are devised.

    Main Results:

    • The proposed scheme guarantees full-state asymptotic tracking with prescribed-time performance.
    • It effectively handles nonlinear uncertainties, input disturbances, and multiplicative input matrix perturbations.
    • All closed-loop signals are proven to be bounded, ensuring desired performance.
    • Simulation studies validate the effectiveness and superiority of the control strategy.

    Conclusions:

    • The developed adaptive tracking control scheme offers a robust solution for FASs.
    • It successfully achieves prescribed-time performance without initial value constraints.
    • The method demonstrates superior performance compared to conventional approaches.