Adaptive Event-Triggered Control for Uncertain Nonlinear Systems With Dynamic Limits Error Constraints

In this article, a novel adaptive event-triggered (ET) control scheme with dynamic limits error constraints is presented. To solve the problem of difficult selection of error constraint limit, the new error transformation function is constructed, which relates the constraint limit to the error and directly constrains the error. The constraint limit of the error designed in this article will change with the change of the error, so that the constraint limit has the ability of self-adjustment to improve the flexibility of error constraints. In addition, a novel ET mechanism based on relative threshold is proposed in this article. The mechanism associates the threshold with the tracking error. When the tracking error of the system changes, the threshold of the ET mechanism will also change accordingly, so as to adjust the number of triggers. On the premise of ensuring the control performance of the system, it can save communication resources as much as possible. Finally, a simulation implementation of the control strategy is carried out through numerical simulation to prove its effectiveness.