Event-triggered state feedback control for p-normal uncertain nonlinear systems

Abstract

The problem of event-triggered control for a class of uncertain nonlinear systems subject to p-norm is investigated in this paper. Note that the input-to-state stability (ISS) assumption related to the measurement error and the assumption on the existence of a stable controller are removed in this paper. With the help of adding a power integrator technique, intermediately control signals are presented to address the uncertainties and nonlinearities of the system under a fixed/relative threshold strategy, which plays an important role in the design of the event-triggered controllers. A rigorous Lyapunov stability analysis method is put forward to verify that all the signals of the closed-loop system are globally uniformly bounded and converge to an arbitrarily small set. Finally, an application of an underactuated mechanical system demonstrates the effectiveness of the designed scheme.

Keywords:

• Event-triggered control
• uncertain nonlinear systems
• p-norm
• adding a power integrator technique

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work was supported by the National Natural Science Foundation (NNSF) of China [Grants 61573099, 61503236, and 61633003].

Notes on contributors

Ting Li

Ting Li received the MSc degree from institute of Automation, Qufu Normal University, China, in 2016, and the PhD degree in control theory and control engineering from the School of Automation, Southeast University, Nanjing, China, in 2020. She is currently a lecturer with the Institute of Mathematics, School of Mathematical Sciences, Nanjing Normal University. Her current research interests include adaptive control, disturbance estimation and compensation, and event-triggered control.

Jun Yang

Jun Yang received the BSc degree in automation from the Department of Automatic Control, Northeastern University, Shenyang, China, in 2006, and the PhD degree in control theory and control engineering from the School of Automation, Southeast University, Nanjing, China, in 2011. He joined the Department of Aeronautical and Automotive Engineering at Loughborough University from 2020 as a Senior Lecturer. His research interests include disturbance estimation and compensation, and advanced control theory and its application to flight control systems and motion control systems. He is a Fellow of IET.

Shihua Li

Shihua Li received his BS, MS and PhD degrees all in Automatic Control from Southeast university, Nanjing, China in 1995, 1998 and 2001, respectively. Since 2001, he has been with School of Automation, Southeast University, where he is currently a professor and the director of Mechatronic Systems Control Laboratory. His main research interests lie in modeling, analysis and nonlinear control theory with applications to mechatronic systems, including manipulator, robot, AC motor, power electronic systems and others.