Event-Triggered Adaptive Control of Saturated Nonlinear Systems With Time-Varying Partial State Constraints

• Published in: IEEE transactions on cybernetics Vol. 50; no. 4; pp. 1485 - 1497
• Main Authors: Wang, Lijie, Chen, C. L. Philip, Li, Hongyi
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.04.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Adaptive control; Asymmetric; Asymmetry; event-triggered adaptive control; input saturation; Liapunov functions; Lyapunov methods; Nonlinear control; Nonlinear systems; partial state constraints; Saturation; System performance; Time-varying systems; Tracking errors
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2018.2865499

This paper investigates the problem of event-triggered adaptive control for a class of nonlinear systems subject to asymmetric input saturation and time-varying partial state constraints. To facilitate analyzing the influence of asymmetric input saturation, the saturation function is converted into a linear form with respect to control input. To achieve the objective that partial states do not exceed the constraints, a more general form of Lyapunov function is offered. Different from some existing results about output/full state constraints, the proposed scheme only requires that the partial states satisfy the time-varying constraints. Moreover, an event-triggered scheme with a varying threshold is designed to reduce the communication burden. With the time-varying asymmetric barrier Lyapunov functions, a novel event-triggered control scheme is developed, which ensures that partial states are without violation of required constraints and the tracking error converges to a small neighborhood of the origin despite appearing as saturated phenomenon. Eventually, the theoretic results are confirmed by two examples.