Dynamic learning‐based event‐triggered control of strict‐feedback systems with finite‐time prescribed performance

Abstract

AbstractThis paper is concerned with the event‐triggered neural learning control for strict‐feedback nonlinear systems (SFNSs) subject to predefined tracking performance. A system transformation approach is utilized to transform the original SFNSs into the normal form, which makes it easily to verify the convergence of neural weights since only one neural network (NN) approximator is employed. Then, a novel finite‐time performance function is first proposed to characterize the performance constraints of tracking error, thus guaranteeing the prescribed tracking performance. On this basis, a new lemma is given, which is crucial to ensure the stability of the closed‐loop system. By using the error transformation technique, the constrained tracking control problem is converted into the stabilization problem of unconstrained error system. Subsequently, by introducing the first‐order sliding mode differentiator into the backstepping procedure and with the help of the high‐gain observer, a novel adaptive neural tracking control scheme is presented to ensure that the prescribed tracking performance is satisfied and all closed‐loop signals are ultimately bounded. After ensuring the satisfaction of the partial persistent excitation condition for radial basis function NN, the neural weight estimates are verified to converge to the ideal values, and then the convergent weights are stored as the constant values. By utilizing the stored knowledge, an event‐triggered neural learning controller is constructed to accomplish the same or similar control tasks, which can effectively improve the transient control performance, save the communication resource, and relieve the online computation at the same time. Finally, the effectiveness of the presented scheme is testified by numerical and practical examples.