Sliding mode differentiator-based event-triggered control for state-constrained nonlinear systems with unknown virtual control coefficients

Abstract

In this paper, a novel event-triggered (ET) adaptive neural tracking control scheme is proposed for uncertain strict-feedback systems subject to asymmetric time-varying full-state constraints, unknown virtual control coefficients and external disturbances. The lower-order time-varying asymmetric barrier Lyapunov function (TVABLF) is constructed to ensure that state constraints are not transgressed. Then, a simple backstepping-based control procedure is developed to remove the existing restrictions on a high power of piecewise TVABLF and high-order differentiability of virtual laws. In particular, a novel adaptive updating law is constructed to co-design the controller and the ET scheme by the combination of the Nussbaum gain technique, thereby solving the ET controller design difficulty resulting from unknown control coefficients. The proposed scheme can guarantee all states within the time-varying constrained areas, achieve the satisfactory tracking ability and save the communication resource. Finally, the effectiveness of the proposed scheme is testified by numerical and practical examples.