Event-Triggered Adaptive Control for a Class of Nonlinear Systems with Dead-Zone Input

Event-Triggered Adaptive Control for a Class of Nonlinear Systems with Dead-Zone Input

2 January 2024 | Congli Mei, Dong Guo, Gang Chen, Jianping Cai, Jianning Li
This paper presents an event-triggered adaptive control scheme for a class of nonlinear systems with dead-zone input. The controller is designed using backstepping techniques and accounts for external disturbances and unknown parameters. The key challenge is to handle the measurement errors in input signals, which can affect the triggering mechanism and lead to threshold disturbances. To address this, a dynamic threshold is introduced, which incorporates both static and dynamic components. The controller also includes a smooth approximation of the sign function to ensure continuous control signals and avoid Zeno behavior. The proposed controller guarantees the boundedness of all signals and the system's tracking performance. Simulation results demonstrate the effectiveness of the control scheme, showing better tracking performance and fewer trigger times compared to traditional methods. The controller is tested on a second-order system and a single-link rigid robot system, confirming its robustness against unknown parameters and external disturbances. The results highlight the advantages of the proposed event-triggered adaptive control approach in handling nonlinear systems with dead-zone inputs.This paper presents an event-triggered adaptive control scheme for a class of nonlinear systems with dead-zone input. The controller is designed using backstepping techniques and accounts for external disturbances and unknown parameters. The key challenge is to handle the measurement errors in input signals, which can affect the triggering mechanism and lead to threshold disturbances. To address this, a dynamic threshold is introduced, which incorporates both static and dynamic components. The controller also includes a smooth approximation of the sign function to ensure continuous control signals and avoid Zeno behavior. The proposed controller guarantees the boundedness of all signals and the system's tracking performance. Simulation results demonstrate the effectiveness of the control scheme, showing better tracking performance and fewer trigger times compared to traditional methods. The controller is tested on a second-order system and a single-link rigid robot system, confirming its robustness against unknown parameters and external disturbances. The results highlight the advantages of the proposed event-triggered adaptive control approach in handling nonlinear systems with dead-zone inputs.
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[slides and audio] Event-Triggered Adaptive Control for a Class of Nonlinear Systems with Dead-Zone Input