Adaptive Event-Triggered Finite-Time Tracking of Output-Constrained High-Order Nonlinear Systems with Time-Varying Powers

Abstract

This paper studies the adaptive event-triggered finite-time tracking of output-constrained high-order nonlinear systems with time-varying powers. Due to the presence of multiple unknown powers and the consideration of event-triggered control, all the existing control methods of output-constrained nonlinear systems are inapplicable. By introducing nonlinear mappings, finite-time performance functions, and low-power and high-power terms into adding a power integrator technique and the relative threshold strategy, an adaptive state-feedback controller is designed to eliminate the effects caused by the output constraint and time-varying powers. It is proved that all the closed-loop signals are bounded, the asymmetric time-varying output constraint is not violated, and the tracking error converges to a prescribed arbitrarily small region around zero in a preassigned finite time. Furthermore, the Zeno phenomenon can be avoided. Two simulation examples demonstrate the effectiveness of this control scheme.