Prescribed-Time Control of Disturbed Systems With State and Input Constraints

Practical control applications frequently require state and input constraints. Even more, certain applications may require the controller to fit with a strict time scheduling. In this context, this article proposes a control scheme that ensures convergence to the origin in prescribed-time for both linear controllable systems and nonlinear systems in the normal form, under nonvanishing disturbances. In this, the settling time is an explicit parameter given by the designer. Moreover, a planning algorithm is introduced for linear systems to efficiently compute a settling time, close to a desired settling time, so the resulting trajectory satisfies required state and input constraints.