Periodic Event-Triggered Prescribed Time Control of Euler-Lagrange Systems under State and Input Constraints

Abstract

This article proposes a periodic event-triggered adaptive barrier control policy for the trajectory tracking problem of perturbed Euler-Lagrangian systems with state, input, and temporal (SIT) constraints. In particular, an approximation-free adaptive-barrier control architecture is designed to ensure prescribed-time convergence of the tracking error to a prescribed bound while rejecting exogenous disturbances. In contrast to existing approaches that necessitate continuous real-time control action, the proposed controller generates event-based updates through periodic evaluation of the triggering condition. Additionally, we derive an upper bound on the monitoring period by analysing the performance degradation of the filtered tracking error to facilitate periodic evaluation of the event-triggered strategy. To this end, a time-varying threshold function is considered in the triggering mechanism to reduce the number of triggers during the transient phase of system behaviour. Notably, the proposed design avoids Zeno behaviour and precludes the need for continuous monitoring of the triggering condition. A simulation and experimental study is undertaken to demonstrate the efficacy of the proposed control scheme.