<p>This paper focuses on the boundary time-varying asymmetric barrier Lyapunov function-based event-triggered cooperative control of nominal-model and model-free backstepping strategy for multi-input multi-output (MIMO) nonlinear systems. Firstly, the boundary time-varying asymmetric barrier Lyapunov function (TABLF) is proposed to handle the output constraints or unconstraint problems. Meanwhile the boundary TABLF also replaces the conventional TABLF to reduce the energy consumption generated by the barrier gain when the system is in the safe region. Secondly, since the nominal-model backstepping control is difficult to handle the uncertainty of the nonlinear system. Besides the adaptive-fuzzy-based model-free backstepping control requires to calculate the adaptive law and the membership function, which may affect the response speed of the system. Therefore, the cooperative control of nominal-model backstepping strategy and adaptive fuzzy-based model-free backstepping strategy is designed to address the above problems. Then, an adaptive estimation for the upper bound of the external disturbance is designed to compensate the effect of the disturbance. Additionally, the tracking-error-based event-triggered mechanism is designed to handle the problem of the relative threshold event-triggered mechanism is insensitive to the change of control inputs when the control inputs are large in the startup phase. Finally, the performance of the proposed method is verified by three-group comparison experiment with six different control strategies on a manipulator platform.</p>