Event-Triggered Adaptive Control for Prescribed Performance Tracking of Constrained Uncertain Nonlinear Systems

Abstract

This paper studies the prescribed performance tracking control problem for a pure-feedback nonlinear system with full-state constraints. By incorporating the asymmetric barrier Lyapunov functions into the dynamic surface control, we develop an adaptive prescribed performance control scheme, which can ensure that all closed-loop signals remain bounded and the full-state constraints are not violated. Furthermore, we explore the event-triggered adaptive prescribed performance control problem for nonlinear systems with full-state constraints, which can save the limited computing and communication resources. The numerical simulations are provided to illustrate the performances of the designed adaptive controller and the event-triggered adaptive controller.

Keywords

• Uncertain nonlinear system
• full state constraints
• prescribed performance control
• adaptive control
• event-triggered control
• barrier Lyapunov function