Fixed-Time Observer Based Adaptive Prescribed Performance Control for Full State Feedback System with Disturbance

This article proposes a fixed-time adaptive controller based on disturbance observer to optimize the disturbance resistance and dynamic performance of full state feedback system. Firstly, a fixed-time prescribed performance (PP) function is used to transform the error function, and a new control law is proposed to ensure that the tracking error converges within a fixed-time and improve the dynamic performance of considered system; Secondly, a fixed-time disturbance observer (FT-DO) is used to observe disturbance signals and compensate to improve the performance of the system; Besides, considering the uncertainty of the system, a new update law is constructed by combining neural network (NN) and fixed-time PP function; As a result, a fixed-time control scheme is obtained, to increase the robustness of the system, where commander filter is adopted to decrease complexity; Finally, the effectiveness of the method was further verified through simulation.