Abstract
This paper addresses the prescribed-time stabilisation problem for a class of fully actuated nonlinear systems by utilising a unique prescribed-time adjustment function and a solution-parameter Lyapunov function. We introduce a control scheme that is tailored for these systems and offers simplicity and streamlined design compared to backstepping-based methods. Furthermore, we develop an adaptive control strategy for systems with uncertain parameters, introducing a time-varying adaptive controller that ensures stability within a predetermined timeframe. We validate the effectiveness of our approach through two simulation examples.