Event-triggered control for a saturated nonlinear system with prescribed performance and finite-time convergence

Zewei Zheng*, Gih Keong Lau, Lihua Xie

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

11 Scopus citations


This paper presents an event-triggered controller for a class of saturated uncertain nonlinear systems. We develop a performance constrained finite-time controller to guarantee that the tracking error converges at a prescribed convergence rate and does not exceed the given maximum overshoot. A smooth function is designed to replace the absolute and signum operators in existing finite-time controllers that lead to nondifferentiable virtual controls. Then, a novel backstepping design consisting of an adaptive law and an auxiliary system governed by a smooth switching function is developed to compensate for the uncertainty, the triggering event threshold, and the saturation constraint. Theoretical analysis demonstrates that under the proposed controller, all closed-loop signals are bounded and the Zeno behavior is avoided. Furthermore, the tracking error will converge toward a residual set in finite time, and the prescribed transient and steady tracking performance bounds are never violated. Results from a comparative simulation study illustrate the effectiveness and advantages of the proposed method.

Original languageEnglish
Pages (from-to)5312-5325
Number of pages14
JournalInternational Journal of Robust and Nonlinear Control
Issue number17
StatePublished - 25 Nov 2018


  • backstepping
  • event-trigger
  • finite-time
  • prescribed performance
  • saturated nonlinear system

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