Event-triggered adaptive tracking control for uncertain nonlinear systems based on a new funnel function

Cungen Liu; Xiaoping Liu; Huanqing Wang; Yucheng Zhou; Shouyin Lu; Bo Xu

doi:10.1016/j.isatra.2019.09.015

Event-triggered adaptive tracking control for uncertain nonlinear systems based on a new funnel function

ISA Trans. 2020 Apr:99:130-138. doi: 10.1016/j.isatra.2019.09.015. Epub 2019 Sep 23.

Authors

Cungen Liu¹, Xiaoping Liu², Huanqing Wang³, Yucheng Zhou⁴, Shouyin Lu⁵, Bo Xu⁶

Affiliations

¹ School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, PR China. Electronic address: littleeggs@sdjzu.edu.cn.
² Faculty of Engineering, Lakehead University, Thunder Bay, ON P7B 5E1, Canada. Electronic address: xliu2@lakeheadu.ca.
³ Department of Mathematics, Bohai University, Jinzhou, PR China. Electronic address: ndwhq@163.com.
⁴ School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, PR China. Electronic address: zhouyucheng@sdjzu.edu.cn.
⁵ School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, PR China. Electronic address: sdznjqr@163.com.
⁶ School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, PR China. Electronic address: tgz4fox@163.com.

PMID: 31561872
DOI: 10.1016/j.isatra.2019.09.015

Abstract

This paper focuses on the problem of event-triggered funnel control for strict-feedback nonlinear systems with unknown parameters. For the first time, an adjustable funnel function is proposed, whose parameters can be adjusted online according to the change of tracking error. Furthermore, based on event-triggered control, an adaptive event-triggered funnel controller is constructed, which guarantees that all the signals in the closed-loop system are bounded. Besides, the output tracking error is further optimized and always falls within an adjustable funnel which has a faster convergence. Meanwhile, the Zeno behavior also is avoided. Simulation results demonstrate the effectiveness of the developed controller.

Keywords: Adaptive control; Event-triggered control; Funnel control; Nonlinear system.