Event-Triggered Adaptive Control for Uncertain Constrained Nonlinear Systems With Its Application

This article is devoted to the event-triggered adaptive control design for uncertain nonlinear systems with full state constraints. A robust adaptive control method enabling the codesign of event-triggering mechanism is proposed, in which the communication burden between controllers and actuators is reduced, and both the physical limitation of the plant with uncertainties and the measurement errors introduced by event-triggering mechanisms can be simultaneously addressed. In addition, a priori knowledge of the signs of unknown virtual control coefficients is not required in the presented controller design methods. Furthermore, Lyapunov stability analysis guarantees that all states in the closed-loop nonlinear system are bounded, the state constraints are not violated, and the tracking errors are driven to a compact set. Finally, a designed example is given to illustrate the effectiveness and advantages of the presented design approaches.