Self-Triggered and State-Triggered Sampling Adaptive Fuzzy Design for Full State Constrained Nonlinear Systems

Abstract

In this paper, the problems of state-triggered sampling and self-triggered tracking control for nonlinear systems with constraints are studied. Firstly, the fuzzy observer is designed for the unknown state. In the presence of state-triggered sampling error, the cooperative design of constraint controller is a key problem to be solved. The median value theorem provides help to solve this problem and an asymmetric state-triggering strategy is presented. In addition, it is proved that the closed-loop signals are input-to-state stable, and the sampling error and tracking error are bounded. Then, a general self-triggered tracking control scheme is presented. In order to compare the control performance of different triggering mechanisms, fuzzy observer and logarithmic barrier Lyapunov function are selected also, and the scheme is designed under the framework of backstepping method. Co-designing controllers and scheduling functions is a key issue, so that the physical implementation benefits from not requiring constant monitoring of the state. Finally, the effectiveness of the proposed method is verified by case study, and the control performance of different triggering mechanisms is compared.