Event-Triggered Adaptive Control of Uncertain Strict-Feedback Nonlinear Systems Using Fully Actuated System Approach
针对现有事件触发控制器在严格反馈非线性系统中因信号不连续导致虚拟控制信号微分无定义的问题，本文基于全驱动系统方法设计自适应控制器，通过李雅普诺夫方法构造事件触发机制，在无全局Lipschitz条件下保证渐近稳定并避免Zeno行为。
In most existing results, event-triggered controllers are designed based on the backstepping design approach for uncertain strict-feedback nonlinear systems (SFNSs). However, the transmitted signals in the event-triggered scheme (ETS) are discontinuous, which makes the repetitive differentiation of virtual control signals undefined. To overcome this deficiency, this article designs an event-triggered adaptive controller for uncertain SFNSs based on the fully actuated system (FAS) approach. Since the system states and the adaptive parameters are only updated at each triggering instant, the original dynamics cannot be completely removed by using the FAS approach, leading to that the asymptotic stability of the control system is difficult to be guaranteed. To handle such a problem, an ETS with the adaptive parameters is constructed based on Lyapunov method to compensate the effect of triggering. As a result, the asymptotic stability of the system can be guaranteed in the presence of nonlinearities without the global Lipschitz condition, and Zeno behavior can be avoided by using the contradiction method. Furthermore, a positive lower bound for interevent intervals can be got by adding a constant into the ETS, which ensures that the system is practically stabilizable under the bounded nonlinearities. Finally, two simulation examples are presented to demonstrate the superiority and effectiveness of the proposed approach.