Output regulation for the parametric strict-feedback system via the event-triggered adaptive updating algorithm

Abstract

In this paper, the adaptive event-triggered output regulation problem for the parametric strict feedback system is addressed. The adaptive control strategy over the plant-control communication network is developed and governed by the transmission sampled data of the plant, completely. By introducing an augment dynamic to compensate the event-triggered measurement errors, the event-triggered mechanism is developed independent on the stability of the adaptive algorithm. Therefore, a more flexible and robust event-triggered mechanism is proposed than the existing method where the threshold coefficients are constrained with the closed-loop system stable requirement. It is proved that, the asymptotical output regulation error upper bound is continuously dependent on the event-triggered threshold coefficient, but independent on the upper bound of unknown parameters. Therefore, the output regulation error upper bound can be modified by the feedback gains and threshold coefficients without considering the bounded unknown parameters. What’s more, the Zeno phenomenon is discussed carefully and excluded. Finally, the event-triggered adaptive control method is applied to control the double-rod electro-hydraulic servo system. It is shown that, the proposed scheme has smaller output regulation error than the existing methods with less communication times.