Dynamic event-triggered prescribed-time control for nonlinear systems with time-varying safety constraints

This paper investigates the prescribed-time practical control problem for nonlinear systems with limited communication bandwidth and time-varying safety constraints. A dynamic event-triggered prescribed-time scheme is developed by combining a time-varying safety funnel, a time-varying barrier Lyapunov function, and a remaining-time-based triggering rule. The proposed method keeps the system state within a predefined contracting boundary while reducing unnecessary control updates. Moreover, the triggering threshold is adapted according to the system state and the remaining prescribed time. The zeno-free property is established by proving a strictly positive lower bound on the inter-event intervals. Simulation results demonstrate the effectiveness of the proposed strategy.