Event-Triggered Adaptive Control for a Class of Nonlinear Systems With Saturation Input and Unknown Modeling Errors

In this paper, an event-triggered adaptive control scheme is proposed by backstepping for a class of strict feedback systems with the saturation actuator. The unknown parameters and modelling errors are also considered. By constructing the auxiliary signal system and introducing auxiliary signals into the controller design, the uncertainties caused by unknown saturation effects are compensated for. Based on this auxiliary signal, an event-triggered adaptive control scheme is constructed. The main contributions of this proposed controller can be summarized as follows: (1) A new event-triggered mechanism is proposed by setting a maximum triggering time interval limit. It integrates time triggering in the event triggering mechanism, and avoiding the phenomenon of system performance not being optimized due to control signals not being updated for a long time. It was also proven that this proposed triggering mechanism can prevent the occurrence of Zeno-behavior; (2) The unknown constant parameters in the upper bound function of the unknown nonlinear terms are considered. By estimating these parameters the compensation accuracy for such unknown uncertainties is improved. Finally, simulation results validate the effectiveness of this proposed controller.