Adaptive robust event-triggered prescribed-performance control for bank-to-turn missiles

This paper develops an adaptive robust event-triggered prescribed-performance control scheme for bank-to-turn (BTT) missiles with strong coupling and lumped disturbances. A self-initializing appointed-time performance function is constructed from the measured initial tracking error, and the slow-fast-slow contraction allocation is adjusted for different channels. A matched trigonometric error transformation function is introduced to obtain zero initial transformed error and simplify the subsequent backstepping derivation. A finite-time compensation mechanism incorporating a twice continuously differentiable switching function is designed for command-filter errors, while adaptive robust control is used for disturbance rejection. A fixed-threshold event-triggered mechanism reduces control updates. Lyapunov analysis establishes practical finite-time stability and excludes Zeno behavior. Simulations verify prescribed-performance tracking, smoother actuator responses, reduced controller-to-actuator updates, and robustness.