Minimal-Approximation-Based Adaptive Event-Triggered Control of Switched Nonlinear Systems with Unknown Control Direction

Abstract

In this paper, the adaptive neural network event-triggered tracking problem is investigated for a class of uncertain switched nonlinear systems with unknown control direction and average dwell time switching. To reduce the communication network traffic, an event-triggering mechanism based on the tracking error is explored in the controller-to-actuator channel. Additionally, the minimal approximation technology, which designs virtual control laws as the unavailable intermediate signals, is introduced to reduce the difficulty of the controller design process. Compared with the existing adaptive backstepping designs using the filtering technology, the virtual controllers are recursed into a lumped nonlinear function to settle the explosion of complexity, and one neural network is employed in the recursive process. Meanwhile, a boundedness lemma on Nussbaum function is given to address the unknown control direction under the minimal approximation design framework. The stability of the overall closed-loop system is rigorously proved by the Lyapunov stability theory, and the rationality of the proposed strategy is verified by a simulation example. According to the proposed event-triggered mechanism, 81.25% of the communication resources are saved in the simulation example.