Adaptive Event-triggered Fixed-time Practical Tracking Control for Uncertain Nonlinear Systems

This paper investigates adaptive fixed-time practical tracking control for nonlinear systems with uncertainties. First, a novel switch function is given, based on which a continuous error compensation system is proposed. The virtual control laws and the adaptive laws are then designed via command filter-based backstepping technique. It is worth noting that the second-order derivability of the proposed virtual control laws is guaranteed by the designed switch function, namely, the validness of the used command filter is ensured. Under the proposed event-triggered control scheme, all signals of the closed-loop system are proved to be bounded and the system output can track the desired signal in fixed time. At last, the effectiveness of the theoretical results is illustrated through simulation.