Adaptive Prescribed Time Control of a Class of Nonlinear Systems with Controller/Update Law Modularity

This paper presents a prescribed time controller formulation for a class of nonlinear systems having uncertainty in their dynamical model parameters and subject to bounded disturbances. An adaptive prescribed time controller is proposed in order to compensate parametric uncertainty and ensure that the error signals converge precisely to the origin exactly at the prescribed time. The convergence and boundedness of the closed-loop system are ensured via Lyapunov-based arguments. In order to test the effectiveness of the controller, extensive simulation studies are presented.