Adaptive Asymptotic Tracking Control of Uncertain Nonlinear Systems Based on Taylor Decoupling and Event-Trigger

Abstract

This article studies the robust adaptive asymptotic tracking control problem for uncertain nonlinear systems with event-triggered inputs. Contrary to the existing results, a novel nonaffine nonlinear control input separated design scheme is developed based on the Taylor decoupling technique instead of the previous approximation ways. Correspondingly, the augmented dimension parameter updated laws and the unknown bound estimation of the compounded disturbance with a positive continuous integrable function are skillfully introduced. Also, by introducing a suitable decreasing function of tracking error variables, an improved adaptive event-triggered mechanism is constructed to achieve the asymptotic tracking and the communication load can be effectively alleviated. Moreover, it is shown that all the signals in the closed-loop system are uniformly bounded and the tracking errors converge to zero in a preset compact set. Finally, the validity of the proposed method is illustrated by simulation on an inverted pendulum model.