Finite-time tracking control for second-order nonlinear systems with prescribed performance subject to mismatched disturbances

In this article, a composite finite-time control scheme with prescribed performance is investigated for a class of second-order nonlinear system in presence of both matched and mismatched time-varying disturbances. Under the prescribed performance control framework, asymmetric dynamic and steady performances are explicitly considered by selecting related performance functions. Then, based on the adding a power integrator technique and the finite-time disturbance observers, a composite finite-time prescribed performance tracking controller is designed such that the system output can track the desired reference signal in finite time even in presence of mismatched disturbances. The finite-time stability of the closed-loop system is analyzed rigorously. Finally, comparative numerical simulations are conducted to verify the effectiveness of the proposed control scheme.