Event-triggered Global Practical Output Regulation with Nonlinear Exosystem

Abstract

In this paper, we study the global practical output regulation problem based on event-triggered control for a class of nonlinear systems with nonlinear exosystem. We first develop a feedforward event-triggered control law and prove the input-to-state stability of the closed-loop system by viewing the sampling error and the steady state of the actuator together as the external input. Then, based on the high gain feedback technique and a well-defined event-triggered mechanism, it can be shown that the ISS gain function can be sufficiently small, and hence the tracking error can be made global ultimately bounded with an arbitrarily predefined upper bound. Finally, a simulation example is provided to illustrate the results.