Present prefect tense is used to describe an action that is finished at the time of speaking, e.g.- 'I have understood it' but it can also be used to show an action thas is still going, for example- he has lived here for ten years. { implies 'and he still lives here'.}
[ whereas, the simple past tense, "he lived here for ten years". { implies 'but he no longer lives here'.} ] , similarly, I have worked in this company for six months. {implies 'and still work here'.}, [ whereas the simple past tense sentence ''I worked in this company for six months''. { implies ' but I do not work here anymore'. } ]
It can also be used to show that the action has recently finished but this type of sentence will often include the word 'just', e.g. 1) he has just come.
2) I have just finished it.
It takes the form: subject + have / has + 3rd form of verb + ...
Present perfect continuous tense is used to describe an action that is still happening or has recently finished and it takes the form:
Subject + have/ has + been + -ing form of verb +...
For example - " he has been studying hard recently".
[ Note the word 'recently' added after the sentence, without this word 'recently', the sentence can mean both 'he has been studying hard recently or he has been studying hard from a long time ago'. ]
You can use both the tense to mean that the action was started long ago and is still going but it is more advisable to use 'present perfect continuous tense', It can be easily understood by the non-native English speakers ( of course, they should know the meaning of each word ).
Although, both tense can be used to mean that the action has recently finshed but if you just say that ' I have been working on this project for several years' and nothing before that, and nothing after that, it will imply that you are still working, whereas, if you say 'I finally did it, I have been working on this project for several years!'. It would imply that you have just finished working with the project, whereas, the second sentence 'I have worked on this project for several years', can imply either 'I have finished with the project' or 'I am still working on it' depending on the context or what you will say after it but it is not implying that the action has recently finished. You have to add something to the end of the sentence.
For example- I have worked on this project for six months + ( 'and now, I am finished' or 'and now, I have finished it' or 'and now, i have finished working with it'.