Adaptive Event-Triggered Control Combined With High-Order Backstepping for Pure Feedback Nonlinear Systems
针对一类不确定高阶纯反馈非线性系统，提出一种基于高阶全驱系统方法的新高阶反步法来设计自适应事件触发控制律，结构简单、自由度大且易于实现，能保证系统信号有界并节省传输能量。
The adaptive event-triggered control problem for a class of uncertain high-order pure feedback nonlinear systems (HOPFNSs) is considered. Different from the traditional backstepping method, a new high-order backstepping method is proposed based on the high-order fully actuated (HOFA) system approaches to design the adaptive event-triggered control law, which has the significant advantages of simple structure, high degree of freedom, and easy to realize. The high-order backstepping method does not need to transform the HOPFNSs into the first-order systems, which is more efficient and significantly reduces design complexity. It is proved that the adaptive event-triggered controller makes all the signals of the system bounded and save the energy in signal transmission. A simulation example is performed to verify the effectiveness of the control strategy.