On robust approximate feedback linearisation with an event-triggered controller

ABSTRACT

In this paper, we consider a problem of global stabilisation of approximate feedback linearised systems with perturbed nonlinearity by an event-triggered control. We categorise the perturbed nonlinearity into three cases and obtain a characterisation function for each case. Then we propose an event-triggered controller with a gain-scaling factor along with an event-triggering condition which is developed based on the characterisation function. Utilising the system analysis results, we suggest a control parameter selection rule depending on the priority on either system output regulation speed or size of the interexecution times. Via practical examples, we demonstrate the validity of our control approach.

KEYWORDS:

• Approximate feedback linearisation
• perturbed nonlinearity
• event-triggered control
• gain-scaling factor
• global stabilisation

Disclosure statement

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

Data availability statement

The data that support the findings of this study are available from the corresponding author, H.-L. Choi, upon reasonable request.

Additional information

Funding

This work was supported by the Dong-A University research fund.

Notes on contributors

Ji-Sun Park

Ji-Sun Park received the B.S.E. degree in 2019 and M.S. degree in 2021 from the Department of Electrical Engineering, Dong-A university, Busan, Korea, respectively. She is currently working toward a Ph.D. degree. Her research interests are nonlinear control problems including robust controls, Quadrotor, Autonomous driving control. She is a member of IEEE, ICROS, and KIEE.

Sang-Young Oh

Sang-Young Oh received the B.S.E. degree in 2013 and M.S. degree in 2015 and Ph.D. degree in 2020 from the Department of Electrical Engineering, Dong-A university, Busan, Korea, respectively. Currently, he is a professor at department of fire safety management, Kyungnam College of Information and Technology, Busan. His research interests include nonlinear system control problems including optimal controls, feedback linearization problems, time-delay issues. He is a member of IEEE, ICROS, and KIEE.

Ho-Lim Choi

Ho-Lim Choi received the B.S.E. degree from the department of electrical engineering, The Univ. of Iowa, USA in 1996, and M.S. degree in 1999 and Ph.D degree in 2004, from KAIST, respectively. Currently, he is a professor at department of electrical engineering, Dong-A university, Busan. His research interests are in the nonlinear control problems with emphasis on feedback linearization, gain scheduling, singular perturbation, output feedback, time-delay systems, time-optimal control. He is a senior member of IEEE.