Prescribed-Time Practical Tracking Control of Output-Constrained Time-Delay Nonlinear Systems

Abstract

This paper considers the prescribed-time output tracking control problem for a class of output-constrained time-delay nonlinear systems. Our control scheme just requires that the nonlinear functions are continuous and the time-delay is bounded. Based on the dialectic by contradiction and the barrier function analysis method, a controller is designed that does not rely on approximation, identification and compensation. It is proved that the proposed approach guarantees output tracking error converges to the prescribed range after a given time and constraint satisfactions simultaneously, and all the signals in the closed-loop system remain bounded. The simulation results demonstrate the feasibility and effectiveness of the proposed control scheme.