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This paper investigates the continuous composite control scheme for the tracking of nonlinear system with mismatched disturbances, input saturation and full-state constraints. Based on the fixed-time stability theory, a novel fixed-time disturbance observer is proposed, which switches from a uniform second-order sliding mode observer with high-degree term to the classical continuous super-twisting observer. Then, a command filtered backstepping control scheme is designed to enforce the tracking error into a small neighbourhood of the origin in fixed time while the full-state constraint and input saturation constraint are satisfied. To further reduce the communication burden, an event-triggered communication strategy between the controller and the actuator input is also developed. Furthermore, all the signals in the closed-loop system are proven to be bounded. Finally, the effectiveness of the proposed control strategy is illustrated by numerical simulations.

Observer-based event-triggered fixed-time control for nonlinear system with full-state constraints and input saturation