Event-Triggered Robust Prescribed-Time Control of Second-Order Uncertain Systems

This article focuses on the prescribed-time (PT) control of second-order uncertain systems. First, a reduced-order prescribed-time extended state observer is designed to estimate the matched disturbance and the nonlinear dynamics, which ensures that the estimation errors achieve convergence before the preset time and avoids the infinite gain compared to conventional PT observers. Second, an event-triggered prescribed-time controller is proposed to achieve compensation of matched disturbances and the suppression of unmatched disturbances in order to ensure the practical PT stabilization and to reduce the communication burden. In addition, rigorous theoretical analysis demonstrates the PT stabilization, signal boundedness, and Zeno-free performance. The effectiveness of the proposed method is validated through simulations on general second-order systems, while its practical applicability is further demonstrated via networked control-based flight experiments on a quadrotor aircraft.