Event-Triggered Adaptive Tracking With Guaranteed Transient Performance for Switched Nonlinear Systems Under Asynchronous Switching
提出一种事件触发神经网络跟踪控制方案，通过模式依赖事件触发机制和障碍函数，在节省通信资源的同时保证切换非线性系统的瞬态性能，并解决异步切换的影响。
This article presents an event-triggered neural-network (NN) tracking control scheme, capable of ensuring transient performance for switched nonlinear systems. A mode-dependent event-triggered communication mechanism (MDETCM) is designed, and this significantly saves communication resources without limiting the number of switches between two consecutive triggering instants. Meanwhile, to solve the impact of asynchronous switching on system performance, the information of the switching signal is considered into the event-triggered mechanism (ETM). Also, by introducing a normalized function transformation and a tan-type barrier function, the transient performance is regarded as a tracking error constraint without considering the initial conditions of system output and reference signal required in traditional prescribed performance bound (PPB) control. At the same time, the improved admissible edge-dependent average dwell time (AED-ADT) method is cleverly connected with adaptive backstepping control, and a state-feedback tracking algorithm is proposed, under which all closed-loop signals are bounded and the transient performance of the controlled plant is ensured. Finally, the superiority of the proposed scheme is demonstrated through numerical studies, and the control scheme is available for a single-link robot.