Event-Triggered Adaptive Fuzzy Tracking Control for Uncertain Nonlinear Systems Preceded by Unknown Prandtl-Ishlinskii Hysteresis.

Abstract

In this article, the problem of event-triggered tracking control for a class of uncertain nonlinear systems with unknown Prandtl-Ishlinskii (PI) hysteresis is investigated. To solve this problem, two control schemes are proposed via synthesizing the techniques of the event-triggered strategy, fuzzy-logic systems (FLSs), and adaptive backstepping control. The first basic design scheme applies an effective method to keep a balance between communication constraints and system performance under the influence of actuator PI hysteresis, while the Zeno behavior can be avoided. Furthermore, the basic design scheme not only guarantees the tracking error asymptotically converges to zero but also establishes a preserved transient performance. Nevertheless, note that the inclusive sign functions of the basic design scheme will cause possible chattering phenomenon, an alternative event-triggered adaptive control approach is then proposed. Unlike the previous control scheme, the second chattering-avoidance design approach ensures asymptotic convergence of the tracking error within a prescribed boundary δ , and finally the [Formula: see text]-norm transient performance of the tracking error is constructed. Simulations verify the established theoretical results that the proposed schemes successfully overcome the communication constraints and compensate the actuator PI hysteresis, and also present different tracking performances between two control schemes for comparison.