Event-Based Adaptive Robust Control of Uncertain Nonlinear Systems with Disturbances
摘要
This paper investigates the issue of event-triggered adaptive state feedback control for networked uncertain nonlinear systems with non-Lipschitz nonlinearities and disturbances. A disturbance observer is constructed to estimate the disturbances. To facilitate digital communication over wireless networks, two event-triggering mechanisms are designed to regulate the necessary packet transmission. Meanwhile, based on the received digital signal, an intermittent adaptive controller is designed to compensate for matched uncertainty and resist the effects of non-Lipschitz nonlinearities on the system. Then, by constructing a novel Lyapunov functional that depends on the maximum interval between two adjacent released signals, it is proved that the underlying system state and parameter estimation signals are globally uniformly ultimately bounded. Finally, a visual servo control system is used to demonstrate the effectiveness of the approach.