Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 18, Issue 10, Pages 2482-2491Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-019-0868-9
Keywords
Arbitrary switching; event-triggered control; prescribed performance; switched nonlinear systems; unknown control directions
Categories
Funding
- Foundation of Hebei province Education Department [QN2016076]
- key research and development technology projects [17227401D]
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An event-triggered adaptive tracking control problem is investigated for a class of switched nonstrictfeedback nonlinear systems with unknown control directions and switching signals. With a linear observer, the output feedback stabilization is achieved under arbitrary switching. The key advantages of the proposed control strategy are that the tracking prescribed performance is ensured regardless of the unknown control directions. Only one tuning parameter needs to be estimated during the recursive process. Moreover, with a varying threshold, a common event-triggered mechanism is developed. Based on the Lyapunov stability theory and the dynamic surface backstepping technique, the developed control method theoretically proves that under arbitrary switching, all signals of the resulting closed-loop switched system are bounded and the tracking error can converge to a small neighborhood of the origin within the prescribed bounds. The Zeno behavior is also avoided. The effectiveness and feasibility are demonstrated by two examples.
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