Adaptive Dynamic Event-Triggered Tracking Control for Uncertain Switched Nonlinear Systems Under State-Dependent Switching
针对不确定切换非线性系统的输出跟踪控制问题，提出一种自适应动态事件触发技术，通过设计切换动态事件触发机制和状态依赖切换律，在减少通信负担的同时保证跟踪误差收敛到预定边界内。
This article introduces an adaptive dynamic event-triggered technique for addressing the output tracking control problem of uncertain switched nonlinear systems with prescribed performance. First, a switching dynamic event-triggered mechanism (SDETM) is established to alleviate network burden and conserve computational resources. A notable aspect is the inclusion of asynchronous switching between the switching subsystems and controllers. Second, a state-dependent switching law ensuring a dwell-time constraint is designed, which avoids the frequent switching phenomenon within any finite time interval. Third, an SDETM and an adaptive dynamic event-triggered controller are developed to confine the output tracking error within predefined decaying boundaries, while ensuring that all the signals of the closed-loop switched system remain within bounded regions. Finally, the validity and applicability of the developed control scheme are demonstrated through a one-link manipulator example.