Event-Triggered Adaptive Tracking for Nonlinear Systems Based on Fully Actuated System Theory

This paper studies the trajectory tracking problem of a class of uncertain nonlinear systems. Firstly, the strict-feedback uncertain nonlinear system is transformed into the high-order fully actuated system by state transition. Then, based on the high-order fully actuated approach, a direct method is used for designing the adaptive tracking controller, where the basis part deals with the known items, the adaptation part estimates the unknown parameter and neural network tackles the unknown system function. Based on the Lyapunov stability theory, it is proved that the tracking error is bounded. Finally, an example is used to verify the effectiveness of the proposed method.