This work proposes a unified adaptive event-triggered tracking control scheme for high-order switched uncertain nonlinear systems, subject to asymmetric time-varying state constraints. The purpose of this paper is to guarantee closed-loop stability and boundedness under average dwell time switching while reducing communication load.
System uncertainties are approximated via neural networks, and finite-time differentiators are used to prevent the “explosion of complexity” in backstepping. High-order terms are handled with separable functions and auxiliary lemmas instead of power integrators. Furthermore, a universal-constrained nonlinear function and coordinate transformations flexibly manage both constrained and unconstrained cases without feasibility conditions.
The proposed adaptive event-triggered controller guarantees strict stability of the closed-loop system and boundedness of all signals under switching signal. Furthermore, the event-triggered mechanism effectively reduces unnecessary control updates, thereby saving communication resources. Simulation results validate the effectiveness and robustness of the proposed control scheme.
Unlike conventional designs, the method avoids iterative embedding of virtual control gains, which simplifies controller construction. It unifies constrained and unconstrained cases and integrates separable-based tools with event-triggered control, offering a novel and efficient solution for high-order switched nonlinear systems.
