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 well-designed 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.

中文翻译：

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基于事件触发的不确定非线性系统自适应模糊渐近预定义时间跟踪控制


本文针对受外部干扰的不确定非线性系统（UNS）提出了一种事件触发自适应模糊渐近预定义时间控制器。通过引入一组精心设计的渐近性能调整（APA）函数，我们建立了分析渐近预定义时间稳定性（APDTS）的通用框架。在基于所建立框架的控制方案下，保证系统状态在用户定义的时间内收敛到零附近的可控区域，并最终渐近收敛到零。最后，机械臂系统的数值模拟验证了控制方法的有效性和优越性。