Maneuvering control of nonlinear systems with practical finite-time asymmetric output constraints

This work studies the practical finite-time maneuvering tracking issue based on event-triggered control for a class of nonlinear systems constrained by asymmetric outputs and subject to external disturbances. An output dependent universal barrier function is constructed, which eliminates the constraint conditions of constrained boundaries, meanwhile deals with unconstrained cases. A command filter is proposed to effectively control vibration and remove differential explosions, and a compensatory signal is also employed to decrease the inaccuracy caused by the command filter. A gradient adaptive law is given through filtering to achieve dynamic tasks, specifically the speed index. Furthermore, all signals in a closed-loop system are bounded, completing both the geometric task and the velocity task, and the output does not violate the given constraints. Simulations are used to verify the suggested method's efficacy.