Novel Adaptive Event-Triggered Fuzzy Command Filter Control for Slowly Switched Nonlinear Systems With Constraints
针对带有状态约束的切换非线性系统，提出一种自适应模糊控制方法，通过统一障碍函数处理时变约束，并设计新的事件触发策略减少通信负担，仿真验证了算法在船舶操纵系统中的有效性。
This article addresses the adaptive fuzzy control problem for switched nonlinear systems with state constraints. The unified barrier function (UBF) is introduced to solve the time-varying state constraints, which removes the feasibility conditions. By integrating command filter into backstepping control to avoid the "explosion of complexity." In addition, a novel event-triggered strategy is designed to deal with the asynchronous switching between subsystems and controllers without limiting the maximum asynchronous time, and mitigate the communication burden. Also, a new threshold function is introduced to overcome the difficulty of discontinuous triggering error at the switching instants. Then, by combining the improved admissible edge-dependent average dwell-time (AED-ADT) method with Lyapunov stability analysis, it is proved that all system signals are bounded and do not violate the predefined constraints under given switching rule. Finally, the numerical simulation results verify the superiority of the proposed algorithm, and the algorithm is applied to a ship maneuvering system.