Based on Lyapunov finite-time stability theory and backstepping control strategy, we put forward a novel fast finite-time dynamic surface tracking control scheme for a single-joint manipulator system with prescribed performance. Compared with most of the traditional prescribed performance finite-time control methods, this work uses a new universal asymmetric barrier function and has a faster convergence speed. In addition, our proposed method eliminates the problem of explosion of complexity based on the dynamic surface. The proposed controller ensures that the closed-loop system is finite-time stable, and the output variable tracks the desired output signal at finite time. Meanwhile, the tracking error converges to the prescribed boundary constraints, and all the signals of the closed-loop system are bounded. In the end, a simulation example is presented to demonstrate the effectiveness of the proposed scheme.

基于李雅普诺夫有限时稳定性理论和反推控制策略，提出了一种具有规定性能的单关节机械手系统新型快速有限时间动态表面跟踪控制方案。与大多数传统的规定性能有限时间控制方法相比，这项工作使用了新的通用非对称势垒函数，并且具有更快的收敛速度。此外，我们提出的方法消除了基于动态表面的复杂性爆炸问题。所提出的控制器确保闭环系统是有限时间稳定的，并且输出变量在有限的时间跟踪所需的输出信号。同时，跟踪误差收敛到规定的边界约束，并且闭环系统的所有信号都受到限制。到底，