Abstract
The article investigates an adaptive practical fixed-time tracking control of nonlinear systems with prescribed boundary constraints. The main control objective is that the system output variable tracks the desired signal at fixed time, and the tracking error can also converge to the prescribed boundary constraints. Primarily, a new coordinate transformation is introduced, which will be utilized in the proposed controller. Next, based on the backstepping scheme, the sufficient conditions for the existence of the adaptive practical fixed-time tracking controller are presented. Meanwhile, the fuzzy logic systems are employed to approximate to unknown parts in the controlled system. Theoretical analysis shows that the tracking error converges to the prescribed boundary constraints at fixed time. At the same time, all the signals in the closed-loop controlled system are bounded and the controlled system is practically fixed-time stable. At last, simulation results verify the effectiveness of the proposed scheme by comparing the cases with/wihtout prescribed boundary constraints.
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