Abstract
This paper introduces an adaptive trajectory-tracking control method for uncertain nonlinear systems, leveraging a time-varying threshold event-triggered mechanism to achieve predefined-time tracking. Compared to conventional time-triggering approaches, the employment of a time-varying threshold event-triggered mechanism significantly curtails communication resource wastage without compromising the system's performance. Furthermore, a novel adaptive control algorithm with predefined timing is introduced. This method guarantees that tracking errors converge to within a small vicinity of the origin within a predefined timeframe, ensuring all signals in the closed-loop system remain bounded. Moreover, by adjusting a controller-related parameter, we can predefine the upper bound of the convergence time. Finally, the efficacy of the control scheme is corroborated by simulation results obtained from a nonlinear manipulator system.
Published Version
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