Command Filtered Event‐Triggered Adaptive Tracking Control for Fractional‐Order Nonstrict Feedback System With Unmodeled Dynamics and Input Saturation

Abstract

ABSTRACT This article investigates the adaptive tracking control problem for a class of nonlinear fractional‐order nonstrict feedback systems with unmodeled dynamics, subject to input saturation, and under full state constraints. The problem of complexity explosion caused by backstepping scheme is avoided by using command filter. Compensation signals are introduced to eliminate filter errors. A logarithmic barrier Lyapunov function is used to address full‐state constraints. Dynamic signal is designed to tackle unmodeled dynamics. A new auxiliary signal is proposed to handle saturation constraints. An event‐triggering mechanism is introduced to reduce the computational burden while avoiding the Zeno phenomenon. Based on the fractional‐order Lyapunov stability theory, it is proved that all signals in the closed‐loop system are semiglobally uniformly bounded, and the tracking error converges to the specified performance bound. Finally, the rationality of the proposed strategy is verified through two simulation examples.