Adaptive Dynamic Event-Triggered Tracking Control for Uncertain Switched Nonlinear Systems Under State-Dependent...

Area of Science:

• Control Systems Engineering
• Nonlinear Dynamics
• Robotics

Background:

• Switched nonlinear systems present challenges in control due to their complex dynamics and switching behavior.
• Existing event-triggered control methods may not adequately address network burden and asynchronous switching.

Purpose of the Study:

• To develop an adaptive dynamic event-triggered technique for output tracking control of uncertain switched nonlinear systems.
• To ensure prescribed performance and bounded signals within the closed-loop system.

Main Methods:

• A switching dynamic event-triggered mechanism (SDETM) was designed to minimize network communication and computational load.
• An asynchronous switching strategy between subsystems and controllers was incorporated.
• A state-dependent switching law with a dwell-time constraint was implemented to prevent excessive switching.

Main Results:

• The proposed SDETM and adaptive controller successfully confined output tracking errors within predefined decaying boundaries.
• All signals in the closed-loop switched system were demonstrated to remain bounded.
• The control scheme effectively managed asynchronous switching between subsystems and controllers.

Conclusions:

• The developed adaptive dynamic event-triggered control scheme offers an effective solution for uncertain switched nonlinear systems.
• The technique alleviates network burden while guaranteeing prescribed performance and system stability.
• The approach is validated through simulations on a one-link manipulator system.