Global Event-Triggered Funnel Control of Switched Nonlinear Systems via Switching Multiple Lyapunov Functions
针对一类结构不确定的切换非线性系统，提出一种全局事件触发漏斗跟踪控制方法，通过切换多李雅普诺夫函数和动态事件触发机制，确保跟踪误差始终在性能漏斗内，并避免芝诺行为。
In this article, the global event-triggered (ET) funnel tracking control problem is studied for a class of switched nonlinear systems with structural uncertainties, where the solvability of the control problem for each subsystem is not needed. A switching multiple Lyapunov functions (MLFs) method is established, where MLFs are designed to handle switched inverse dynamics, and a switching barrier Lyapunov function is constructed to address switched sampled errors that may compromise system stability. This is achieved alongside a new switching dynamic event-triggering mechanism (DETM). By combining this method with backstepping, a dwell-time state-dependent switching law and an ET funnel controller of each subsystem are constructed, effectively eliminating the issue of the "explosion of complexity" encountered in traditional backstepping without using dynamic surface control or command filters. Additionally, the designed switching DETM ensures that the tracking error always evolves within a performance funnel in any consecutive triggering interval, excluding Zeno behavior, and guaranteeing positive constant lower bounds for two consecutive triggering intervals and any switching interval, respectively. Finally, an example is provided to show the validity of the theoretical results.