Event‐Based Prescribed‐Time Tracking Controller for Nonholonomic Systems Subject to Irregular Output Constraints

ABSTRACT This article studies the event‐based fuzzy prescribed‐time tracking control problem for nonholonomic systems subject to irregular output constraints. To address the limitations of conventional methods designed for continuous constraints, a stretching function is employed to reconfigure the original nonholonomic systems with discontinuous constraints into an unconstrained framework. A novel event‐triggered control (ETC) is presented, achieving a balanced consideration of steady‐state security and high communication efficiency. Meanwhile, by integrating a command‐filtered backstepping approach with fuzzy logic systems (FLSs), the scheme can compensate for uncertainties and ensure the boundedness of all system signals. The developed prescribed‐time stabilization algorithm achieves the desired control objectives while satisfying predefined irregular output constraints. Furthermore, the proposed control scheme avoids the Zeno behavior. Simulation results validate the effectiveness of the proposed tracking control strategy.