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

Abstract

This paper studies the adaptive asymptotic tracking control problem of uncertain nonlinear systems with unknown control directions, dead-zone constraints and event-triggered inputs. By constructing the proper parameter updated laws with a positive continuous integrable function of augmented dimension vectors, unknown upper bound and compound disturbance, an improved adaptive backstepping control scheme is developed to substantially deal with the effect of unknown parameter vectors and dead-zone nonlinearities. Accordingly, an associated event-triggered mechanism including the decreasing function of tracking errors is designed to obtain the desired tracking performance and thus the computation burden of the transmissions procedure can be significantly alleviated. It is further shown that all the closed-loop signals are uniformly bounded and that the asymptotic tracking can be achieved based on Lyapunov function method. Finally, the validity of the presented approach is demonstrated by two simulation examples.