期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 28, 期 17, 页码 5312-5325出版社
WILEY
DOI: 10.1002/rnc.4314
关键词
backstepping; event-trigger; finite-time; prescribed performance; saturated nonlinear system
资金
- National Natural Science Foundation of China [61503010, 61703018]
- Aeronautical Science Foundation of China [2016ZA51001]
- Fundamental Research Funds for the Central Universities [YWF-18-BJ-Y-108]
This paper presents an event-triggered controller for a class of saturated uncertain nonlinear systems. We develop a performance constrained finite-time controller to guarantee that the tracking error converges at a prescribed convergence rate and does not exceed the given maximum overshoot. A smooth function is designed to replace the absolute and signum operators in existing finite-time controllers that lead to nondifferentiable virtual controls. Then, a novel backstepping design consisting of an adaptive law and an auxiliary system governed by a smooth switching function is developed to compensate for the uncertainty, the triggering event threshold, and the saturation constraint. Theoretical analysis demonstrates that under the proposed controller, all closed-loop signals are bounded and the Zeno behavior is avoided. Furthermore, the tracking error will converge toward a residual set in finite time, and the prescribed transient and steady tracking performance bounds are never violated. Results from a comparative simulation study illustrate the effectiveness and advantages of the proposed method.
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