Abstract
It is highly desirable yet challenging to achieve zero-error tracking within a given short time period for uncertain multi-input multi-output (MIMO) nonlinear systems. Previous results are primarily state-regulation oriented and are valid only for single-input single-output (SISO) linear systems or nonlinear systems in normal-form. This note presents a tracking control solution for high-order MIMO nonlinear systems in strict-feedback-like form. The proposed control is able to achieve precise tracking within the prescribed time irrespective of initial conditions in the presence of mismatched uncertainties and non-vanishing disturbances.
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