Dynamic event-triggered tracking control for high-order nonlinear systems with time-varying irregular full-state...

Area of Science:

• Control Systems Engineering
• Nonlinear Dynamics
• Robotics and Automation

Background:

• Practical nonlinear systems often exhibit irregular state constraints (time-varying, alternating bounds, dynamic changes).
• Input saturation is a common limitation in real-world control applications.
• Existing control methods struggle to address the complexity and variety of irregular state constraints simultaneously.

Purpose of the Study:

• To develop a unified tracking control strategy for high-order nonlinear systems with diverse irregular state constraints and input saturation.
• To design an event-triggered control mechanism that minimizes communication and energy overhead.
• To ensure robust system performance despite complex constraint scenarios.

Main Methods:

• Introduction of auxiliary constraint boundaries to manage irregular state constraints.
• Application of nonlinear transformed functions (NTFs) to overcome barrier Lyapunov function (BLF) feasibility issues.
• Design of an event-triggered controller using a dynamic event-triggered mechanism and power integrator technique.

Main Results:

• A unified control framework effectively handles 7 types of irregular state constraints and input saturation.
• The proposed dynamic event-triggered mechanism significantly reduces communication burden and energy consumption.
• Simulation and practical examples validate the controller's effectiveness and robustness.

Conclusions:

• The unified control method offers a robust solution for complex nonlinear systems with irregular constraints.
• The dynamic event-triggered approach enhances practical applicability by optimizing resource usage.
• This research advances the state-of-the-art in constrained nonlinear control systems.