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Event-triggered tracking control of uncertain p-normal nonlinear systems with full-state constraints
1College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China; College of Mathematics and Computer Application Technology, Jining University, Qufu 273155, China.
Abstract:
This paper investigates the tracking control problem of uncertain p-normal nonlinear systems with full-state constraints via event-triggered mechanism. By skillful constructing an adaptive dynamic gain and a time-varying event-triggered strategy, a state-feedback controller is proposed to achieve practical tracking. The adaptive dynamic gain is incorporated to deal with the system uncertainties and eliminate the bad effect of the sampling error. A rigorous Lyapunov stability analysis method is put forward to verify that all the closed-loop signals are uniformly bounded and the tracking error converges into a prescribed arbitrary accuracy, and full-state constraints are not violated. Compared with the existing event-triggered strategies, the proposed time-varying event-triggered strategy is low-complexity without designing the hyperbolic tangent function.
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