Event-Triggered Prescribed-Time Tracking Control for Nonlinear Systems With Asynchronous Switching

In this paper, the problem of event-triggered prescribed-time output-feedback tracking control is discussed for a class of switched nonlinear systems with asynchronous switching. By using a modified time-dependent scale function and the barrier Lyapunov function technique, the output tracking error is constrained without the requirement of restricting its initial value. Then, a mode-dependent event-triggered mechanism is developed by using a logarithm-type relative threshold strategy, under which the effect of asynchronous switching caused by event triggering and system switching is reduced. Meantime, the excessively large control input is avoided without introducing the mixed threshold strategy. Subsequently, with the aid of the designed event-triggered controller, the output tracking error can converge to the preassigned tracking accuracy within a prescribed time. It is proved that the Zeno behavior does not happen. Finally, two examples are given to verify the effectiveness of the proposed control method.