Prescribed performance fixed-time tracking control for a class of second-order nonlinear systems with disturbances and actuator saturation

Abstract

This paper investigates the prescribed performance fixed-time tracking control problem for a class of second-order nonlinear systems with bounded disturbance and actuator saturation limit. In order to facilitate the controller development, we introduce the performance function and output error transformation technique to transform the tracking error dynamics with inequality performance constraints to an equivalent unconstrained error one. Different from the existing work on the guaranteeing prescribed performance control, we incorporate the fixed-time sliding mode surface into the control design procedure to cope with the disturbances and actuator saturation limit. Specifically, a robust adaptive fixed-time tracking controller, which requires no upper bound of the disturbance, is designed to solve the prescribed performance fixed-time tracking control problem. The rigorous mathematical stability proof is given. Finally, numerical simulations for the attitude tracking control are presented to demonstrate the effectiveness and robustness of the proposed controller.