Event-Triggered Output-Feedback Adaptive Control of Interconnected Nonlinear Systems: A Cyclic-Small-Gain Approach
针对一类互联参数非线性系统，提出了一种同时考虑控制器到执行器通道和传感器到控制器通道事件触发机制的自适应输出反馈控制协议，通过循环小增益定理和Lyapunov理论证明了闭环信号有界且排除Zeno行为。
This article proposes a novel output-feedback event-triggered control protocol for a class of interconnected parametric nonlinear systems. Different from most existing works where event-triggering mechanisms are considered for only the controller-to-actuator channel or the sensor-to-controller channel, this work adopts event-triggering mechanisms for both channels as well as adaptive laws. An adaptive states observer is designed to estimate the unavailable system state and then a novel adaptive event-triggered controller is proposed based on the celebrated backstepping technique. By utilizing the cyclic small-gain theorem and Lyapunov theory, it is shown that the proposed control scheme ensures that all the closed-loop signals are semi-globally uniformly ultimately bounded (SGUUB), and the Zeno behavior is successfully excluded. Finally, a practical example is provided to illustrate the effectiveness and advantages of the proposed approach.