Event-triggered tracking control for nonlinear systems subject to time-varying external disturbances

Event-triggered tracking control for a class of nonlinear systems with disturbances is investigated in this paper. Compared to existing related results, the nonlinearities only need to satisfy a generalized Lipschitz condition, and the time-varying external disturbances are allowed to be unmatched....

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Bibliographic Details
Main Authors: Li, Ting, Wen, Changyun, Yang, Jun, Li, Shihua, Guo, Lei
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2021
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Online Access:https://hdl.handle.net/10356/152127
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Institution: Nanyang Technological University
Language: English
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Summary:Event-triggered tracking control for a class of nonlinear systems with disturbances is investigated in this paper. Compared to existing related results, the nonlinearities only need to satisfy a generalized Lipschitz condition, and the time-varying external disturbances are allowed to be unmatched. By using finite-time disturbance observers, the finite-time estimation of the steady states is achieved to reduce the complexity of tracking control design. The event-triggered controller is designed by a new feedback domination approach, which can dynamically compensate for both errors caused by disturbances and the sampled-data implementation of the controller. A new Lyapunov stability analysis is given to show that all the signals of the closed-loop system are globally bounded and the tracking error is ensured to converge to a set, which can be made as small as desired by adjusting control parameters. Finally, a numerical example demonstrates the effectiveness of the designed scheme.