Event-Triggered Prescribed-Time Non-Adaptive Control for Uncertain Fully Actuated Nonlinear Systems

This paper investigates the prescribed-time control problem for uncertain fully actuated nonlinear systems. By intro-ducing a prescribed-time function and a solution-parameter Lyapunov function, we propose a prescribed-time control scheme for such systems. Compared to backstepping-based prescribed-time control, the proposed approach offers a more concise and straightforward design. Additionally, a continuous time-varying auxiliary controller is developed, providing a structurally sim-pler alternative to traditional adaptive control methods. To further enhance efficiency, a novel event-triggering mechanism is introduced to reduce communication resources. Finally, a simulation example demonstrates the effectiveness of the proposed control scheme.