| Abstract: |
| This article investigates the prescribed-time control problem for a class of nonlinear systems with disturbances. Using general backstepping and state scaling techniques to deal with high-order systems with disturbances may lead to differential explosion and complicate stability analysis. To avoid these problems, this paper proposes a prescribed-time control scheme based on fully actuated system (FAS) approach. Transform the nonlinear system into FAS with disturbances, giving the system a more concise structure, and then use a state scaling function to transform the original system state. Using strictly bounded robust controllers to achieve asymptotic stability of new FAS with amplified disturbances, thereby achieving prescribed-time stability of the original system. Finally, the effectiveness of the algorithm was verified through numerical examples. |
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