Event-Triggered Finite-Time Adaptive Practical Tracking Control for Time-Varying State-Constrained Nonlinear Systems

This article focuses on the event-triggered finite-time adaptive practical tracking control for uncertain nonstrict-feedback nonlinear systems in the presence of time-varying state constraints and external disturbances. First, a disturbance observer is introduced to identify the compounded disturbances, which are made up of external disturbances and fuzzy approximation errors. Second, the asymmetric time-varying barrier Lyapunov functions are constructed to guarantee that all the state constraints are not violated. Meanwhile, the finite-time command filters are embedded in the backstepping-based controller design to overcome the explosion of complexity problems. Third, the event-triggered adaptive controller is developed to reduce the communication burden based on the relative threshold algorithm. The proposed control strategy can guarantee that the closed-loop system is semiglobally practically finite-time stable, and the tracking error converges to a small residual set in a finite time. Finally, a simulation example is included to illustrate the effectiveness of the theoretical results.