Robust Adaptive Dynamic Event-Triggered Control of Switched Nonlinear Systems

Abstract

This paper investigates the robust adaptive event-triggered control (ETC) problem for switched nonlinear systems. A novel robust adaptive controller for nonlinear systems under dwell-time switching is first constructed based on a common virtual control Lyapunov function method using backstepping. Then, a dynamic ETC (DETC) strategy is integrated into the switching controller to constitute an overall solution to the problem under investigation while the challenges caused by interaction of switching and triggering instants are well addressed. In particular, global asymptotic stability and exclusion of Zeno behavior are guaranteed for the resulting closed-loop system. Furthermore, the solution is extended to a larger class of switched nonlinear systems whose subsystems are not assumed to be asymptotically stable. In this case, a state-dependent switching strategy with guaranteed dwell-time must be constructed such that the proposed switching DETC can be applied. Finally, three examples are presented to demonstrate the effectiveness of the proposed design strategies.