摘要
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.
原文 | English |
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頁(從 - 到) | 5312-5325 |
頁數 | 14 |
期刊 | International Journal of Robust and Nonlinear Control |
卷 | 28 |
發行號 | 17 |
DOIs | |
出版狀態 | Published - 25 十一月 2018 |