Prescribed - Time Control for a Class of Fully Actuated Rigid-Body Systems

This paper presents a novel control strategy for fully actuated rigid-body systems that enhances their robustness and rapid stability during tracking tasks. To improve the freedom of the system's convergence time, we propose a prescribed-time robust controller that incorporates time-varying parameters to achieve fast convergence of the tracking error even in the presence of external disturbances. At the same time, we derive a new model for the attitude error dynamics baes on the SE(3) and demonstrate the effectiveness of our approach through simulation. The results show that our controller not only ensures prescribed time stability, but also enhances the ability of the rigid-body to accurately track the intended trajectory.