Hybrid Event-triggered Control of Nonlinear System with Full State Constraints and Disturbance

TL;DR

This paper develops a hybrid event-triggered control approach for nonlinear systems with full-state constraints and disturbances, utilizing neural networks, disturbance observers, and a novel 'log' function to ensure stability and performance.

Contribution

It introduces a new hybrid event-triggered control scheme with a 'log' function for constraints and a disturbance observer, enhancing control of constrained nonlinear systems with disturbances.

Findings

Effective handling of full-state constraints using the 'log' function.

Successful disturbance estimation with a disturbance observer.

Simulation validates improved control performance and network efficiency.

Abstract

This article focuses on the problem of adaptive tracking control for a specific type of nonlinear system that is subject to full-state constraints via a hybrid event-triggered control (HETC) strategy. With the auxiliary system, we proposed a 'log' function to deal with the full-state constraint. Additionally, a disturbance observer (DO) is constructed to handle the unmeasurable external disturbance. Then, by employing radial basis function neural networks (RBFNNs) and a first-order differentiator, an opportune backstepping design procedure is given to avoid the problem of "explosion of complexity". The HETC strategy, including the fixed and relative threshold, is presented to provide more flexibility in balancing the system performances and network burdens. Finally, to demonstrate the effectiveness of the aforementioned control scheme, a simulation example is presented to validate its effectiveness.