Asymptotic adaptive output feedback event-triggered control of uncertain strict-feedback nonlinear systems with sensors triggering

Abstract

In this paper, event-triggered output feedback control of a class of high-order nonlinear strict-feedback systems with parametric uncertainties is investigated, in which both of the controller and the parameter estimator are triggered based on a set of event-triggered conditions. Firstly a new one-step control design framework is proposed for the strict-feedback nonlinear systems, therefore both expressions of the controller and the parameter estimate laws are much more simple than those of the recursive design approaches such as backstepping control. Secondly observers are designed to estimate the unknown states, and a set of event-triggering mechanism is proposed for the sensors such that the states are transmitted through the communication network only at the triggering points. The estimated parameter is obtained without real-time integration due to the event-triggered estimator. It is proved that our proposed control law guarantees the closed-loop system is globally bounded and the system output converges to zero asymptotically. It is also proved that the Zeno behavior is excluded. Simulation results demonstrate the effectiveness of the proposed control scheme.

Keywords: Adaptive control; Cyber–physical systems; Event-triggered control; Sensor triggering.