Event-Triggered Robust Control Combined with High-Order Backstepping for Pure Feedback Nonlinear Systems with Uncertainty

This paper focuses on the event-triggered control problem for a class of high-order pure feedback nonlinear systems (HOPFNSs) that involve unknown terms. Different from the traditional backstepping method, this paper designs a robust event-triggered controller based on the high-order fully actuated (HOFA) system approach combined with the high-order backstepping approach, which can greatly reduce the computational burden of the system. Meanwhile, the robust control technique is applied to deal with the unknown term to improve the system stability and control accuracy. In order to save system communication resources, the switching threshold event-triggered mechanism (ETM) is innovated in this paper. By utilizing Lyapunov stability theory, it is proved that all signals in the closed-loop system are bounded. Finally, the effectiveness of the proposed method is verified by a simulation example, which shows its effectiveness in achieving the desired control objectives.