Adaptive fixed-time tracking control for a class of nonlinear pure-feedback systems: A relative threshold event-triggered strategy.

In this paper, a fixed-time controller under the mechanism of event-trigger is designed for a class of nonlinear pure-feedback systems with non-differentiable non-affine functions. By properly modeling non-affine terms, the limitation of the partial derivatives of non-affine functions is eliminated. In our design process, we first develop a fixed-time adaptive controller using decoupling method. Then, a relative threshold event-trigger mechanism (ETM) is introduced in Section 3.1. The proposed controller can not only stabilize the system within a fixed-time, but also save communication resources more effectively. Lastly, the feasibility of the proposed control scheme is verified by two simulation examples.
Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.
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