Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1201-1211

https://doi.org/10.1007/s12555-022-1248-4

© The International Journal of Control, Automation, and Systems

Practical Tracking Control for High-order Nonlinear Systems With Dynamic Uncertainties and Unknown Powers via Event-triggered Mechanism

Jiling Ding, Weihai Zhang*, and Junsheng Zhao

Shandong University of Science and Technology

Abstract

This paper studies the problem of output regulation for a class of high-order nonlinear systems with dynamic uncertainties and unknown powers. Based on the characters of input-to-state stable Lyapunov function and the technique of changing supply rate, a partial-state feedback controller is designed under event-triggered mechanism framework. In the proposed control law, an adaptive dynamic gain is constructed to deal with system uncertainties and eliminate the bad effect of the event-triggered sampling error, and a term of higher power is introduced to compensate the unknown system powers. It is verified that the output tracking error converges into any prescribed small set of the origin and all the closed-loop signals are globally bounded by the proposed partialstate feedback controller, while the Zeno phenomenon is avoided. The effectiveness of the proposed scheme is verified by some simulation results.

Keywords Dynamic uncertainties, event-triggered mechanism, high-order nonlinear systems, partial-state feedback control, unknown powers.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1201-1211

Published online April 1, 2024 https://doi.org/10.1007/s12555-022-1248-4

Copyright © The International Journal of Control, Automation, and Systems.

Practical Tracking Control for High-order Nonlinear Systems With Dynamic Uncertainties and Unknown Powers via Event-triggered Mechanism

Jiling Ding, Weihai Zhang*, and Junsheng Zhao

Shandong University of Science and Technology

Abstract

This paper studies the problem of output regulation for a class of high-order nonlinear systems with dynamic uncertainties and unknown powers. Based on the characters of input-to-state stable Lyapunov function and the technique of changing supply rate, a partial-state feedback controller is designed under event-triggered mechanism framework. In the proposed control law, an adaptive dynamic gain is constructed to deal with system uncertainties and eliminate the bad effect of the event-triggered sampling error, and a term of higher power is introduced to compensate the unknown system powers. It is verified that the output tracking error converges into any prescribed small set of the origin and all the closed-loop signals are globally bounded by the proposed partialstate feedback controller, while the Zeno phenomenon is avoided. The effectiveness of the proposed scheme is verified by some simulation results.

Keywords: Dynamic uncertainties, event-triggered mechanism, high-order nonlinear systems, partial-state feedback control, unknown powers.

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

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