Event-Triggered Predefined Time Tracking Control of Nonlinear Systems via Sliding Mode

This brief delves into the tracking control problem of nonlinear systems with predefined time convergence requirements via sliding mode control (SMC). First, to mitigate mechanical wear in physical devices, an event-triggered mechanism with a switching threshold strategy is applied to system states. Second, two smooth time-varying functions are introduced into the design of event-triggered SMC to ensure that the reaching and sliding phases are accomplished within a predefined time. Therein, the designed SMC scheme incorporates a class-${\mathcal{K}}$ function with triggered states, which eases the requirements for prior knowledge of lumped disturbances. Furthermore, with the designed scheme, tracking errors can be enforced to a bounded domain with a desired level within a predetermined time. Finally, simulations are conducted to highlight the main features of the proposed scheme.