Finite-time transient control of uncertain nonlinear systems based on prescribed performance and disturbance observer

For uncertain nonlinear systems with dead-zone input, this paper focuses on designing a disturbance observer-based adaptive fuzzy finite-time prescribed performance controller. To meet practical requirements, a fixed-time disturbance observer is constructed to estimate the system uncertainties. To confine the tracking error within a predefined range, a finite-time performance function is introduced. Subsequently, the constrained problem is transformed into a stability problem via a transformation function. Based on Lyapunov stability theory, the proposed control method can ensure that the closed-loop signals are bounded and the tracking error is restricted within the prescribed range. The simulation results confirm the validity of the proposed approach.