Predefined-Time Event-Triggered Adaptive Tracking Control for Uncertain Time Delay Nonlinear Systems

This paper raises a predefined-time event-triggered adaptive tracking controller for nonlinear systems with time delays. To mitigate the effects of time-varying delays, a Lyapunov-Krasovskii function is initially introduced. A set of adaptive laws and virtual controllers with switching functions are designed to avoid singularity phenomena. In addition, the event-triggered mechanism with the switching threshold can effectively conserve communication resources while avoiding the occurrence of Zeno behavior. It is theoretically demonstrated that, under the devised control strategy, the system output successfully tracks the reference signal with negligible tracking error within a specified time. Lastly, the validity of the raised control strategy is demonstrated through examples.