Adaptive fuzzy asymptotic predefined-time tracking control of uncertain nonlinear systems based on event-trigger

This paper proposes an event-triggered adaptive fuzzy asymptotic predefined-time controller for uncertain nonlinear systems (UNS) subject to external disturbances. By introducing a set of welldesigned asymptotic performance adjustment (APA) functions, we establish a general framework for analyzing asymptotic predefined-time stability (APDTS). Under the control scheme based on the established framework, the system state is guaranteed to converge to a controllable area around zero within a user-defined time and eventually asymptotically converge to zero. Finally, numerical simulations of a robotic arm system verify the effectiveness and superiority of control approaches.