Quantized event‐triggered adaptive control for switched nonlinear systems with vanishing control gains

Abstract

Summary This article studies the quantized event‐triggered adaptive tracking control problem for a type of switched nonlinear systems with parameter uncertainties, where the corresponding control problem for each subsystem can be unsolvable owing to vanishing control gains at some points. A constructive design scheme is established by triple design of quantized event‐triggered adaptive controller of each subsystem and a switching dynamic event‐triggering mechanism dependent on quantization and a hysteresis‐type state‐dependent switching law. The developed scheme handles not only the asynchronous switching between candidate event‐triggered adaptive controllers and subsystems, but also the asynchronous switching between candidate quantizers and subsystems. Both the switching law and the event‐triggering mechanism do not cause Zeno behavior. As a special case, a sufficient condition to address the quantized event‐triggered adaptive control problem for the switched nonlinear systems is also derived under dwell‐time switching. Finally, the effectiveness of the developed schemes are verified by a numerical example and a networked one‐link manipulator with motor dynamics.