Event-triggered predefined-time tracking control for high-order nonlinear systems with time-varying actuator failures and uncertain disturbances

Abstract

For a class of higher-order nonlinear system control problems with time-varying actuator failures and external disturbances, this paper designs efficient control strategies that allow the system to be stabilized in a predefined time. First, for such systems, this paper designs an effective predefined-time control strategy using the backstepping control method combined with the adaptive radial basis neural network technique, which makes the stabilization time of the system simple and adjustable. Secondly, while using the command filtering technique to solve the “complexity explosion” problem in the design of controllers for high-order nonlinear systems, this paper designs a novel predefined-time filtering error compensation mechanism to eliminate the impact of filtering errors on the stability of the system. Finally, an event-triggered mechanism is introduced, which effectively saves the communication resources. The effectiveness of the control strategy proposed in this paper is demonstrated by the simulation experiments.