Adaptive finite-time event-triggered command filtered control for nonlinear systems with unknown control directions

Abstract

In this article, we study an adaptive finite-time event-triggered command filtered control problem based on output feedback for a class of nonstrict-feedback nonlinear systems with unknown control directions. Firstly, the unknown nonlinear continuous functions in the systems are approached by fuzzy logic systems, and the coordinate transformations and Nussbaum function technique are introduced to settle the problem caused by the unknown control directions in the systems. Then, in order to reduce the communication burden between the controller and the actuator, a finite-time adaptive event-triggered control algorithm is designed by means of backstepping technique. It is proved that the tracking and observer errors are adjusted around zero with a small neighborhood in a finite time and all the signals in the closed-loop systems are bounded. In addition, the command filtering technology based on error compensation system with fractional power is constructed to avoid the complexity explosion issue in the backstepping design process. Finally, the simulation examples are included to verify the availability and superiority of the control approach.