Fuzzy Adaptive Event-Triggered Control for a Class of Uncertain Nonaffine Nonlinear Systems With Full State Constraints

Abstract

This article is concerned with the fuzzy adaptive tracking control problem for a class of uncertain nonaffine nonlinear systems with full state constraints and event-triggered inputs. First, based on the mean-value theorem and the input compensation method, the control input signal of nonaffine nonlinear term is successfully decoupled, and the remained compound nonlinear function can be approximated by fuzzy logic systems. Then, an improved event-triggered control strategy including the fixed threshold, the event-trigger control input, and the decreasing function of tracking errors, is given to update the actual control input. Correspondingly, the computation burden of the communication procedure is effectively alleviated. In addition, the developed control scheme guarantees that all the states of the closed-loop systems are not to violate the predefined compact sets by constructing barrier Lyapunov functions. Also, the system output tracking error can converge to a desired neighborhood of the origin. Finally, the validity of the proposed approach is demonstrated by the simulation results.