Adaptive predefined-time tracked control for full-state constrained nonlinear systems with disturbance and uncertainties

Abstract This paper investigates the tracking control problem for nonlinear systems subject to internal uncertainties and external disturbance. Based on event-triggered and predefined-time command filter control methods, we propose an adaptive predefined-time tracking control scheme for the considered systems, which guarantees that the tracking error converges to a neighborhood of the origin within a prescribed time. In the study, unknown nonlinear terms of the controlled system are approximated by a fuzzy logic system, while external disturbances are compensated via adaptive control method. A tan-type NM(nonlinear mapping) technique is applied to address time-varying constraint issues, thereby facilitating controller design. The proposed scheme ensures that, even in the presence of internal uncertainties and unmatched external disturbances, the tracking error achieves predefined-time convergence. Finally, the simulation results verify the effectiveness of the proposed method. When the predefined time is (T = 0.2s), the system is able to track the desired trajectory before (0.2s), and the tracking error is always confined within ([−0.1, 0.1]). When (T = 1s), the system can also achieve tracking of the target trajectory before (1s), while keeping the tracking error within ([−0.2, 0.2]). These results demonstrate that the proposed control scheme exhibits good tracking performance and robustness.