Event-triggered Adaptive Backstepping Control of Nonlinear Uncertain Systems with Input Delay

Abstract

This paper considers the problem of event-triggered adaptive control over the controller-to-actuator channel for a general class of uncertain nonlinear systems under input delay. For this purpose, auxiliary compensating variables are introduced to handle the input delay and transform the overall system into un-delayed system. Then, an adaptive controller based on backstepping is designed to deal with the parametric uncertainties. A Lyapunov-based triggering condition is proposed to reduce the communication burden while ensuring an acceptable performance. The obtained results demonstrate that the proposed control scheme is not only able to compensate for input delays but also results in a significant reduction of bandwidth utilization as compared to fixed, relative and switching triggering schemes.