Event-Triggered Fixed-Time Adaptive Trajectory Tracking for a Class of Uncertain Nonlinear Systems With Input Saturation

Abstract

This brief investigates the fixed-time tracking problem for uncertain nonlinear systems with input saturation constraint under the event-triggered scheme. An adaptive fixed-time controller is proposed to drive the tracking error to a residual set in fixed time, which can eliminate the problem of “explosion of complexity”. Furthermore, in order to decrease the communication burden between the controller and the actuator while maintaining the system control performance, we co-design the adaptive controller and the event-triggered strategy, which guarantees that the control input is injected into the actuator only when the predefined event occurs. In addition, the measurement error arisen from event-triggering mechanism is also compensated. Finally, a rigorous mathematical stability proof is given and simulation results are presented to illustrate the effectiveness of the proposed control scheme.