Fixed-time adaptive command filtered control for time-varying full-state constrained nonlinear systems with event-triggered mechanisms

In this paper, an adaptive fixed-time control strategy incorporating an event-triggered mechanism is proposed for the control problem of a class of uncertain nonlinear systems with time-varying full-state constraints. First, an NM method is utilized to address the full-state constraint problem by converting the constrained system into an unconstrained system. Subsequently, a command filter is introduced to avoid the “explosion of complexity” problem of the virtual control law during the backstepping control design process, and a fixed-time filter compensation system is constructed to correct the filtering error. In addition, an event-triggered mechanism based on relative thresholds is devised to alleviate the phenomenon of resource wastage generated by the system during the communication process. The proposed control method ensures that all signals of the system are bounded and that the tracking error converges to a small domain near the origin within a fixed time, and the convergence time is independent of the initial state of the system. Finally, simulation examples are provided to verify the method’s effectiveness.