Event-Triggered Tracking Control for Nonlinear Systems With Prescribed Performance
Ruihang Ji, Shuzhi Sam Ge, Kai Zhao, Haizhou Li
Abstract
This article addresses the entry capture problem (ECP) of uncertain nonlinear systems under asymmetric performance constraints. We show that such ECP is commonly encountered in practice that has not been well addressed, whose tracking error is free from any performance constraints initially then is driven into the prescribed region in finite time. For better-transient performance, a unified tunnel prescribed performance (TPP) is developed to provide strict and tight allowable set. By utilizing a scaling function, together with an error scaling function (ESF), and a more general error-dependent transformation function (ETF), we propose an event-triggered tracking control strategy leading to a solution for the underlying ECP with various initial conditions and asymmetric performance constraints. This control strategy is of significant simplicity, stemming from that only 1-bit signal is needed for each data transmission between controller and actuator. We also show that the tracking error (including the initial-constraint violation) is regulated into the prescribed region in a given time globally. Finally, simulations are conducted to illustrate the above theoretical findings.