Switched-Observer-Based Event-Triggered Adaptive Fuzzy Funnel Control for Switched Nonlinear Systems

Abstract

This article addresses the event-triggered output-feedback funnel tracking control problem for a class of switched nonlinear systems. A novel switched-observer-based event-triggered adaptive fuzzy funnel control approach for solving the problem is proposed by exploiting the average dwell time method and backstepping. To estimate unmeasurable system states, a switched fuzzy observer and switched update laws for individual subsystems are designed. Compared with the existing funnel controllers designed in the framework of continuous-time feedback control, the proposed approach constructs event-triggered funnel controllers of subsystems and a switching event-triggered mechanism (ETM), which greatly alleviates the unnecessary waste of communication and computation resources, and, without any known limitation on maximum asynchronous time, handles the issue of asynchronous switching between the candidate controllers of subsystems and subsystems. Also, a strictly positive lower bound on interevent time is ensured by introducing a piecewise constant variable into the ETM, which overcomes the difficulty of switched measurement error being discontinuous. It is guaranteed that the tracking error evolves within a prespecified performance funnel. Finally, two examples including a mass-spring-damper system are presented for illustrating the validity of the developed approach.