Abstract
SummaryThis paper presents an event‐triggered controller for a class of saturated uncertain nonlinear systems. We develop a performance constrained finite‐time controller to guarantee that the tracking error converges at a prescribed convergence rate and does not exceed the given maximum overshoot. A smooth function is designed to replace the absolute and signum operators in existing finite‐time controllers that lead to nondifferentiable virtual controls. Then, a novel backstepping design consisting of an adaptive law and an auxiliary system governed by a smooth switching function is developed to compensate for the uncertainty, the triggering event threshold, and the saturation constraint. Theoretical analysis demonstrates that under the proposed controller, all closed‐loop signals are bounded and the Zeno behavior is avoided. Furthermore, the tracking error will converge toward a residual set in finite time, and the prescribed transient and steady tracking performance bounds are never violated. Results from a comparative simulation study illustrate the effectiveness and advantages of the proposed method.
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