An Event-Triggered Adaptive Tracking Controller for Nonlinear Systems With Pure-Feedback Form

This paper is concerned with the adaptive event-triggered tracking control (AETC) problem for nonlinear systems with pure-feedback form (NSPF). Firstly, this paper uses adaptive estimate and mean value theorem (MVT) to overcome unknown constant parameter and non-affine input burden. In addition, a transformation based on monotonically decreasing positive continuous function is introduced, which can be used to deal with uncertain virtual control coefficient (UVCC) arising from the decoupling of pure-feedback systems. Finally, the event-triggered threshold is used to implement the switching of the value-triggered strategy.