Event-based adaptive asymptotic tracking control of nonlinear time-varying systems with prescribed performance
Sheng-Nan Shi, Yuan‐Xin Li
Abstract
This paper is concerned with the adaptive tracking control problem of nonlinear time-varying systems. Based on the backstepping technology, an event-based prescribed performance control scheme is developed. And the time-varying uncertainties of the system are handled by utilising bound estimation method. The proposed controller not only ensures the prescribed tracking performance, but also reduces the communication burden. By using Lyapunov stability analysis, it is proven that all of the closed-loop signals are bounded, and the tracking error can converge to zero. Simultaneously, Zeno behaviour is excluded. Finally, the simulation results are utilised to illustrate the effectiveness of the proposed adaptive control scheme.