Adaptive fuzzy predefined time tracking control with full state error constraint

Abstract This paper studies a class of full state error constraint nonlinear control systems with unknown control gains and external disturbances, and proposes an adaptive fuzzy predefined time tracking control method with full state error constraint. By constructing the state error transfer function, the time‐varying constraints are imposed on the full state error, which overcomes the computational complexity of the asymmetric barrier Lyapunov function. The exponential function is used to constrain the state error with time‐varying characteristics, ensuring that the error of the designed controller does not exceed the constraint boundary. By selecting the best predefined time from multiple predefined times, the controller is guaranteed to have a fast convergence time and the tracking error of the system converges to a small neighborhood near the origin. Finally, the effectiveness of the proposed method is verified through simulation comparisons with existing results.