Finite-time practical tracking for a class of high-order nonlinear systems with time-varying full-state constraints via event-triggered control

The finite-time practical tracking problem is studied for a class of high-order nonlinear systems with time-varying full-state constraints via event-triggered control. In order to remove the feasibility conditions required by the traditional barrier Lyapunov functions (BLFs) method when dealing with state constraints, this paper introduces the nonlinear transformation functions (NTFs) for the states to transform the constrained system into an equivalent unconstrained system. An event-triggered controller is designed with a wider application range and more suitable for the tracking control system by combining the switching threshold event-triggered strategy. The purpose of reducing resource consumption is realized. The finite-time stability of the closed-loop system is proved by the finite-time theory without breaking the state constraints. Finally, numerical and practical examples are given to verify the effectiveness of the proposed results.