Fuzzy Logic-Based Fixed-Time Tracking Control for Nonlinear Switched Systems: An Event-Driven Approach

This paper addresses adaptive fixed-time event-triggered asymptotic tracking control problem for nonlinear switched systems under arbitrary switching. By adding exponential terms with factor to fixed-time controller and using a modified fixed-time lemma, a novel fixed-time stability criterion is given. Subsequently, to remove the singularity problem and achieve asymptotic tracking control, some piecewise functions and positive integral time-varying functions are proposed in the adaptive backstepping process. In addition, the mode-dependent dynamic event-triggered strategy of subsystem is designed to solve asynchronous switching problem between subsystems and the corresponding controller, which removes the restriction on the number of switch. Then, by means of common Lyapunov function method and Lyapunov stability theory, it is proved that all signals are bounded. In the end, the consumer robotic manipulator system is used to demonstrate the effectiveness of the proposed control algorithm.