Safe Tracking Control via Event‐Triggering for Nonlinear Systems Under Disturbances and Constraints

This paper investigates the adaptive secure tracking control problem for uncertain nonlinear systems subject to state constraints, dynamic event triggering, and external disturbances. Unlike existing methods that persistently confine tracking signals within constraint boundaries, the proposed scheme addresses potential conflicts between reference signals and constraint limits. To overcome this challenge, a boundary protection mechanism is designed and integrated with backstepping techniques. Leveraging a sliding mode differentiator, an adaptive controller is developed based on a dynamic event‐triggered mechanism. The approach achieves precise tracking of desired trajectories by the system output while significantly improving resource utilization efficiency through a dynamic threshold‐based event‐triggering strategy. Results demonstrate that the proposed control scheme ensures secure reference tracking while effectively preventing violations of state constraints throughout system operation. Simulation examples validate the feasibility of the methodology.