Event-Triggered Adaptive Robust Control for a Class of Uncertain Nonlinear Systems With Application to Mechatronic System

Abstract

Adaptive robust control technique is investigated to devise trajectory tracking event-triggered controller for a class of uncertain nonlinear systems. Different from the most existing results, this paper divides the entire control input into two parts, including model compensation input term and the robust term, which are separately dealt with by means of special triggered mechanisms. The advantage of separation is that the system reduces the magnitude of chattering amplitude within triggered inputs. To balance the information updating frequency and the magnitude of chattering amplitude, this paper proposes the dynamic threshold triggered mechanism and provides a new Lyapunov function to guarantee the global boundedness of all the closed-loop signals as well as the convergence of the tracking error to an arbitrary small set around zero. This paper also considers desired compensation adaptive robust event-triggered control strategy, thereby further saving bandwidth resources and smoothing the triggered inputs. The Zeno behavior is excluded for two triggering schemes. Finally, simulation and Hardware-in-the-loop (HIL) experiment are used to verify the effectiveness of the proposed strategies.