This paper proposed a finite-time prescribed performance control scheme for underactuated autonomous underwater vehicles (AUVs) based on adaptive neural networks and a tan-type barrier Lyapunov function. Even in the presence of output constraints and environmental disturbances. the AUV can also precisely track the desired trajectory in a finite time. By introducing a tan-type barrier ... https://unitedssports.shop/product-category/ball-glove-softball-fielding-junior/