A Novel Prescribed-Time Control Approach Under Unknown Control Gain and Mismatched Disturbance

Guangtai TIAN; Mehdi GOLESTANI; Bin LI; Yongduan SONG; Guangren DUAN

doi:10.1109/TCYB.2026.3668830

A Novel Prescribed-Time Control Approach Under Unknown Control Gain and Mismatched Disturbance

Guangtai TIAN
, Mehdi GOLESTANI
, Bin LI^*
, Yongduan SONG
, Guangren DUAN

^*Corresponding author for this work

Research output: Journal Publications › Journal Article (refereed) › peer-review

Abstract

In this article, a prescribed-time output feedback controller is proposed for a class of uncertain nonlinear systems with unknown control coefficients and mismatched nonvanishing disturbances. Both unknown control coefficients and mismatched disturbances are tricky to address by the existing prescribed-time output feedback control frameworks. Differently, a novel prescribed-time control criterion in conjunction with Nussbaum functions is proposed, and prescribed-time stability is achieved. Furthermore, design methods for a state observer and a prescribed-time output feedback controller are developed. With the proposed control design, both the system output and observer errors are rigorously proved to converge to zero within a prescribed time. Moreover, the unified prescribed performance (UPP) of the system output and the satisfaction of output constraints are simultaneously achieved. Numerical simulations and experiments are provided to illustrate the effectiveness of the proposed control design.

Original language	English
Number of pages	13
Journal	IEEE Transactions on Cybernetics
DOIs	https://doi.org/10.1109/TCYB.2026.3668830
Publication status	Published - 14 Apr 2026
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2013 IEEE.

Funding

This work was supported in part by the National Natural Science Foundation of China under Grant 62503343, Grant U24B20156, Grant 62303337, Grant W2433161, and Grant 62188101; in part by the Postdoctoral Fellowship Program of China Postdoctoral Science Foundation under Grant GZC20251187; and in part by Sichuan Science and Technology Program under Grant 2024NSFSC1494 and Grant 2026NSFSC1516.

Keywords

Mismatched disturbances
prescribed performance
prescribed-time stabilization
unknown control coefficients

Access to Document

10.1109/TCYB.2026.3668830

Cite this

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title = "A Novel Prescribed-Time Control Approach Under Unknown Control Gain and Mismatched Disturbance",

abstract = "In this article, a prescribed-time output feedback controller is proposed for a class of uncertain nonlinear systems with unknown control coefficients and mismatched nonvanishing disturbances. Both unknown control coefficients and mismatched disturbances are tricky to address by the existing prescribed-time output feedback control frameworks. Differently, a novel prescribed-time control criterion in conjunction with Nussbaum functions is proposed, and prescribed-time stability is achieved. Furthermore, design methods for a state observer and a prescribed-time output feedback controller are developed. With the proposed control design, both the system output and observer errors are rigorously proved to converge to zero within a prescribed time. Moreover, the unified prescribed performance (UPP) of the system output and the satisfaction of output constraints are simultaneously achieved. Numerical simulations and experiments are provided to illustrate the effectiveness of the proposed control design.",

keywords = "Mismatched disturbances, prescribed performance, prescribed-time stabilization, unknown control coefficients",

author = "Guangtai TIAN and Mehdi GOLESTANI and Bin LI and Yongduan SONG and Guangren DUAN",

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AU - TIAN, Guangtai

AU - GOLESTANI, Mehdi

AU - LI, Bin

AU - SONG, Yongduan

AU - DUAN, Guangren

PY - 2026/4/14

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N2 - In this article, a prescribed-time output feedback controller is proposed for a class of uncertain nonlinear systems with unknown control coefficients and mismatched nonvanishing disturbances. Both unknown control coefficients and mismatched disturbances are tricky to address by the existing prescribed-time output feedback control frameworks. Differently, a novel prescribed-time control criterion in conjunction with Nussbaum functions is proposed, and prescribed-time stability is achieved. Furthermore, design methods for a state observer and a prescribed-time output feedback controller are developed. With the proposed control design, both the system output and observer errors are rigorously proved to converge to zero within a prescribed time. Moreover, the unified prescribed performance (UPP) of the system output and the satisfaction of output constraints are simultaneously achieved. Numerical simulations and experiments are provided to illustrate the effectiveness of the proposed control design.

AB - In this article, a prescribed-time output feedback controller is proposed for a class of uncertain nonlinear systems with unknown control coefficients and mismatched nonvanishing disturbances. Both unknown control coefficients and mismatched disturbances are tricky to address by the existing prescribed-time output feedback control frameworks. Differently, a novel prescribed-time control criterion in conjunction with Nussbaum functions is proposed, and prescribed-time stability is achieved. Furthermore, design methods for a state observer and a prescribed-time output feedback controller are developed. With the proposed control design, both the system output and observer errors are rigorously proved to converge to zero within a prescribed time. Moreover, the unified prescribed performance (UPP) of the system output and the satisfaction of output constraints are simultaneously achieved. Numerical simulations and experiments are provided to illustrate the effectiveness of the proposed control design.

KW - Mismatched disturbances

KW - prescribed performance

KW - prescribed-time stabilization

KW - unknown control coefficients

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DO - 10.1109/TCYB.2026.3668830

M3 - Journal Article (refereed)

C2 - 41979948

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JO - IEEE Transactions on Cybernetics

JF - IEEE Transactions on Cybernetics

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A Novel Prescribed-Time Control Approach Under Unknown Control Gain and Mismatched Disturbance

Abstract

Bibliographical note

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Keywords

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