Event-triggered adaptive asymptotic tracking control of uncertain nonlinear systems with unknown dead-zone constraints

作者：

Highlights：

• The adaptive event-trigger tracking control scheme of uncertain nonlinear systems with unknown control directions and dead-zone nonlinearities is developed.

• By constructing the proper parameter updated laws, the improved adaptive backstepping control algorithm can guarantee the output tracking error to asymptotically converge to zero.

• It is proved that the novel adaptive event-triggered mechanism proposed in this paper has much wider scope of the applicability than the existing schemes.

• Simulation results of nonlinear single-link robot system demonstrate the effectiveness and advantages of the presented control method.

摘要

•The adaptive event-trigger tracking control scheme of uncertain nonlinear systems with unknown control directions and dead-zone nonlinearities is developed.•By constructing the proper parameter updated laws, the improved adaptive backstepping control algorithm can guarantee the output tracking error to asymptotically converge to zero.•It is proved that the novel adaptive event-triggered mechanism proposed in this paper has much wider scope of the applicability than the existing schemes.•Simulation results of nonlinear single-link robot system demonstrate the effectiveness and advantages of the presented control method.

论文关键词：Adaptive control,Event-triggered control (ETC),Uncertain nonlinear system,Dead-zone nonlinearity,Asymptotic tracking

论文评审过程：Received 3 January 2020, Revised 26 June 2020, Accepted 5 July 2020, Available online 23 July 2020, Version of Record 23 July 2020.

论文官网地址：https://doi.org/10.1016/j.amc.2020.125528