Event-Triggered Adaptive Control of Uncertain Strict-Feedback Nonlinear Systems Using Fully Actuated System Approach

Area of Science:

• Control Systems Engineering
• Nonlinear Dynamics
• Adaptive Control Theory

Background:

• Existing event-triggered controllers for uncertain strict-feedback nonlinear systems (SFNSs) often use backstepping, facing issues with discontinuous signals and undefined virtual control differentiation.
• The fully actuated system (FAS) approach, while promising, struggles to guarantee asymptotic stability due to incomplete removal of original dynamics.

Purpose of the Study:

• To design a novel event-triggered adaptive controller for uncertain SFNSs using the FAS approach.
• To address the challenge of guaranteeing asymptotic stability in event-triggered systems with adaptive parameters.
• To ensure practical stability and avoid Zeno behavior in the proposed control scheme.

Main Methods:

• Utilizing the fully actuated system (FAS) approach for controller design.
• Developing a Lyapunov-based event-triggered scheme (ETS) with adaptive parameters to compensate for triggering effects.
• Employing a contradiction method to prevent Zeno behavior and adding a constant to the ETS for a positive interevent interval.

Main Results:

• The proposed controller guarantees asymptotic stability for uncertain SFNSs without requiring the global Lipschitz condition.
• Zeno behavior is successfully avoided, and a positive lower bound on interevent intervals is established.
• The controller ensures practical stabilizability under bounded nonlinearities.

Conclusions:

• The developed event-triggered adaptive controller effectively addresses limitations of previous methods for uncertain SFNSs.
• The approach provides robust stability guarantees and practical performance improvements.
• Simulation examples confirm the superiority and effectiveness of the proposed control strategy.