Adaptive fuzzy guaranteed performance control for uncertain nonlinear systems with event-triggered input

摘要

This paper investigates the issue of event-triggered adaptive tracking control for a class of nonlinear systems with unmeasurable states and uncertain nonlinearities. A state observer based on fuzzy logic systems (FLSs) is first established for further stability analysis. Under the framework of backstepping technique, a novel adaptive backstepping control scheme is proposed, where the controller updates are event-driven to decrease the communication burden between the plant and the controller. Differing from the existing results for periodic event-triggered control (ETC), the proposed event-triggered strategy is aperiodic, which depends on the measurement errors with respect to fixed threshold and the magnitude of control signal. Especially, it should be mentioned that the discontinuous control signals in ETC might bring poor transient performance. Therefore, the prescribed performance bounds (PPBs) method with barrier Lyapunov function is utilized to balance the system performance and the number of triggering events. Finally, it is proved that all closed-loop signals can converge to a desired compact set and the output tracking error is within the specified bounds. Simulation example illustrates the effectiveness of the proposed control scheme.