Abstract
For nonlinear systems with state interconnection and time-delay, a unified finite-time prescribed performance control (FTPPC) method is proposed. To unify the traditional funnel-shaped finite-time prescribed performance functions (FTPPFs) and enhanced tunnel-shaped FTPPFs into one expression, this paper designs the novel FTPPFs which are related to the initial values of the tracking errors. By integrating the designed FTPPFs with appropriate adaptation laws, a decentralized control algorithm which achieves asymptotic tracking is developed. The proposed controllers also remove the limitation that the design parameters depend on the initial values of virtual errors. The boundedness of all closed-loop signals is rigorously proved by Lyapunov functions. Finally, the effectiveness of the proposed controllers is verified through the practical simulation and comparative simulation.