Fixed-time prescribed performance fault compensation control of uncertain pure-feedback nonlinear systems

Abstract

This study is primarily focused on the issue of low-complexity global fixed-time prescribed performance fault compensation control for uncertain nonlinear systems with actuator failures, and extra disturbance. First of all, a new fixed-time function in view of inverse trigonometric function is proposed and used to define the state errors. Then, proper root-type error conversion functions and smooth orientation functions are linked to design the continuous control signals in the state feedback controller. In addition, based on the idea of proof by contradiction, it is shown that the state errors converge to a predictable compact aggregate at a definite rate at a fixed time. Meanwhile, the boundedness of any closed-loop signals might be guaranteed. The simulation results and algorithm comparisons are delivered to demonstrate the effectiveness and superiority of the developed control strategy at last.