Dynamic event-triggered prescribed-time zero-error tracking control for non-strict feedback nonlinear systems

This article focuses on the prescribed-time tracking control problem for non-strict feedback nonlinear systems (NFNS) with unknown system uncertainties and external disturbances. In contrast to the previous work on finite-time and fixed-time stabilization control for a class of NFNS, the prescribed-time zero-error tracking control is realized. Firstly, the fuzzy logic system is used to handle unknown nonlinear functions. Secondly, the “complexity explosion” problem is solved in the control structure through a designed command filter and a new prescribed-time error compensation algorithm, which realizes the preset time compensation of the filter error signal to zero, and effectively eliminates the impact of the filter error signal on the system performance. Furthermore, a dynamic event-triggered mechanism (DETM) is proposed based on the co-design approach to effectively reduce the waste of communication resources and optimize network resource utilization. Meanwhile, based on the Lyapunov stability theory, it is proved that the system tracking errors will converge to zero within a prescribed time, which can be determined by the user in advance arbitrarily while avoiding the Zeno phenomenon. It is important to note that the preset time can be adjusted within the physical limits of the system, independent of the system initial conditions. Finally, the effectiveness of the proposed control method algorithm is verified by numerical simulation results and experimental studies.