Event-triggered adaptive finite-time tracking control for full state constraints nonlinear systems with parameter uncertainties and given transient performance

Abstract

This paper investigates event-triggered finite-time tracking control problem for full state constraints nonlinear systems with uncertain parameters. Considering a class of full state constraints nonlinear systems, a new finite-time barrier Lyapunov function (FTBLF) is constructed, and it is utilized to achieve finite-time tracking control while each state constraints are not violated. Further, to reduce communication resource burden, a time-varying threshold event-triggered mechanism is proposed. Meanwhile, by integrating prescribed exponential function into FTBLF, the transient performance can be guaranteed and free from influences of event-triggered control input. Finally, on the basic of backstepping design, an event-triggered adaptive finite-time tracking control method is developed. The proposed method guarantees that tracking error tends to a small adjustable set and its trajectory is within specified bound, while full state constraints are never violated. Two examples are given to demonstrate the control effect.