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Volume 15
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Article

Time-Specified Adaptive Robust Control Framework for Managing Nonlinear System Uncertainties

by
Duc-Anh Pham
1,
Seung-Hun Han
1,* and
Kyeong-Ju Kong
2,*
1
Department of Mechanical System Engineering, Gyeongsang National University, Tongyeong 53064, Republic of Korea
2
Major of Mechanical System Engineering, Pukyong National University, Busan 48513, Republic of Korea
*
Authors to whom correspondence should be addressed.
Appl. Sci. 2025, 15(6), 3226; https://doi.org/10.3390/app15063226
Submission received: 18 February 2025 / Revised: 12 March 2025 / Accepted: 14 March 2025 / Published: 15 March 2025
(This article belongs to the Section Robotics and Automation)
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Abstract

This paper addresses the issue of prescribed-time control for a specific class of uncertain nonlinear systems. Initially, a stability theorem based on prescribed time is introduced, utilizing adaptive techniques for the first time. Building on this theorem, a novel state feedback control approach is presented, employing the backstepping method for high-order nonlinear systems with unknown parameters to ensure convergence within the prescribed time. Furthermore, the proposed prescribed-time controller is derived in the form of continuous time-varying feedback, enabling all system states to converge to zero within the specified time. Notably, the prescribed time is independent of the system’s initial conditions, allowing it to be set arbitrarily within the physical constraints. Finally, two simulation examples are provided to demonstrate the effectiveness of the proposed algorithm.
Keywords: prescribed-time control; uncertain nonlinear systems; stability theorem; backstepping method; state feedback control prescribed-time control; uncertain nonlinear systems; stability theorem; backstepping method; state feedback control

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MDPI and ACS Style

Pham, D.-A.; Han, S.-H.; Kong, K.-J. Time-Specified Adaptive Robust Control Framework for Managing Nonlinear System Uncertainties. Appl. Sci. 2025, 15, 3226. https://doi.org/10.3390/app15063226

AMA Style

Pham D-A, Han S-H, Kong K-J. Time-Specified Adaptive Robust Control Framework for Managing Nonlinear System Uncertainties. Applied Sciences. 2025; 15(6):3226. https://doi.org/10.3390/app15063226

Chicago/Turabian Style

Pham, Duc-Anh, Seung-Hun Han, and Kyeong-Ju Kong. 2025. "Time-Specified Adaptive Robust Control Framework for Managing Nonlinear System Uncertainties" Applied Sciences 15, no. 6: 3226. https://doi.org/10.3390/app15063226

APA Style

Pham, D.-A., Han, S.-H., & Kong, K.-J. (2025). Time-Specified Adaptive Robust Control Framework for Managing Nonlinear System Uncertainties. Applied Sciences, 15(6), 3226. https://doi.org/10.3390/app15063226

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