Event-Triggered Adaptive Fuzzy Tracking Control for Pure-Feedback Stochastic Nonlinear Systems With Multiple Constraints

This article investigates the event-triggered adaptive tracking control for a class of pure-feedback stochastic nonlinear systems with full state constraints and input saturation. The saturated input is expressed as a smooth nonlinear function with bounded disturbance. The pure-feedback structure is transformed into strict-feedback case via mean value theorem, and a novel event-triggered adaptive fuzzy tracking control scheme with relative threshold is then proposed. The barrier Lyapunov function is introduced to analyze the system stability, and the state constraints are, thus, guaranteed. It is proved that the closed-loop stochastic nonlinear system is semiglobally uniformly ultimately bounded in probability, and the output tracking error converges to a small neighborhood of zero. Finally, the effectiveness of the proposed method is verified via simulation studies.