Dynamic event-triggered control of nonlinear system with state constraints

In this paper, a control strategy based on a dynamic event-triggered mechanism is proposed for a class of constrained nonlinear systems affected by external disturbance. Firstly, a new disturbance observer is designed to achieve asymptotic stability of the disturbance estimation error, and then the method of state transformation function is used to deal with the problem of full-state constraints. In order to save energy consumption, the hyperbolic secant type dynamic event-triggered mechanism is designed. Then, based on the Lyapunov theory, the bounded stability of closed-loop systems is proved. Finally, the effectiveness of the proposed strategy is verified through comparative simulations.