Adaptive tracking control for nonlinear systems via dynamic‐memory event‐triggering and unified barrier functions

Abstract This paper addresses the practical output tracking problem for high‐order nonlinear systems subject to actuator faults and mode‐dependent average dwell time (MDADT) switching by designing an adaptive fuzzy control. The proposed scheme incorporates a novel adaptive mode‐dependent dynamic‐memory event‐triggered mechanism (AMDDMETM), which enhances communication efficiency by utilizing an auxiliary dynamic variable with time‐delay information. This mechanism further reduces conservatism through mode‐dependent event‐triggering conditions. Simultaneously, an improved tangent‐type barrier Lyapunov function (tan‐BLF) is introduced to unify the treatment of constrained and unconstrained states, rigorously guaranteeing that mode‐dependent asymmetric time‐varying state constraints remain inviolable. The boundedness of all error signals is analytically established. Finally, simulation results validate the effectiveness of the proposed control framework.