Event‐triggered model‐free adaptive fractional order sliding mode I/O constrained control for a class of nonlinear systems

Abstract

AbstractTo tackle the trajectory tracking issue of nonlinear systems with unknown dynamics and input/output (I/O) constraints, a novel model‐free adaptive constrained control (MFACC) scheme is first proposed with improvement of tracking precision and reduction of computation cost. The system model is processed via the compact form dynamic linearization approach. Then, an event‐triggered observer‐based pseudo partial derivative (PPD) estimation algorithm is proposed to implement the data‐driven modeling information, which relieves the computation burden of modeling. Relying on the reconfigured data model, an improved prescribed performance control (PPC) approach with asymmetric predefined boundaries and the fractional order sliding mode control strategy are both exploited and integrated with MFACC for high‐precision and robustness assurance. Moreover, a novel prescribed‐boundary‐based event‐triggered mechanism is proposed to implement MFACC scheme so that the remarkable balance between tracking precision and computation cost can be maintained, and the I/O constraints can be handled via the proposed PPD‐based anti‐windup compensator and PPC technique. Finally, the stability analysis and contrast simulation are pursued which verifies the validity of proposed scheme.