Event‐triggered adaptive backstepping control for parametric strict‐feedback nonlinear systems

Abstract

Summary This paper proposes a novel adaptive backstepping control method for parametric strict‐feedback nonlinear systems with event‐sampled state and input vectors via impulsive dynamical systems tools. In the design procedure, both the parameter estimator and the controller are aperiodically updated only at the event‐sampled instants. An adaptive event sampling condition is designed to determine the event sampling instants. A positive lower bound on the minimal intersample time is provided to avoid Zeno behavior. The closed‐loop stability of the adaptive event‐triggered control system is rigorously proved via Lyapunov analysis for both the continuous and jump dynamics. Compared with the periodic updates in the traditional adaptive backstepping design, the proposed method can reduce the computation and the transmission cost. The effectiveness of the proposed method is illustrated using 2 simulation examples.

Event‐triggered control for a saturated nonlinear system with prescribed performance and finite‐time convergence

“…Remark Event‐triggered control can be considered for either the sensor‐to‐control or controller‐to‐actuator channel or both of them. In this paper, we are concerned with how to ensure that the system tracking performance meets the requirements while minimizing the communication cost for remote control of systems such as aircraft and ground robots, the actuator operating frequency and wear.…”

“…Based on this, we chose the event‐triggered design for the controller‐to‐actuator channel. The proposed event‐triggering mechanism can be simply implemented without the adaptive mirror model used in the work of Li and Yang since only one triggering condition is required. In addition, the input‐to‐state stability assumption in the work of Postoyan et al and the global Lipschitz requirement in the work of Adaldo et al were both removed …”

Event‐triggered control design for nonlinear systems with actuator failures and uncertain disturbances

“…Recently, some effective ETC scheme were well developed for interconnected nonlinear systems and multiagent systems with unknown control directions . The simultaneous design of an adaptive control law and an event‐triggering condition can be found in other works …”

Observer‐based event‐triggered control for singularly perturbed systems with saturating actuator

“…Owing to the fact that the controller signal does not need to be updated, when the systems operate in ideal state, periodic updates of controller may waste computation resources and limited network resources (LNRs). A so‐called event‐triggered control (ETC) is proposed as a kind of efficient alternative to save LNR through reducing the unnecessary sampling signals . The ETC is to execute the control update by judging the predefined triggering condition.…”