Command filtered event‐triggered adaptive control for MIMO stochastic multiple time‐delay systems

Abstract

In this article, the command filter based adaptive event-triggered control problem for multiple-input and multiple-output multiple time-delay stochastic nonlinear systems is considered. First, a state observer is constructed to estimate the unmeasured states of systems. Then, in the framework of backstepping design, the command filtered and event-triggered techniques are employed to avoid the problem of "explosion of complexity" and save the communication resources, respectively. Meanwhile, by utilizing the command filters, a novel variable separation method is constructed to address the algebraic-loop problem, which caused by the nonstrict-feedback item. The boundedness of the whole signals in systems can be remained, and the given desired trajectories can be followed by the system outputs. Finally, a numerical example is shown to demonstrate the effectiveness of the proposed control method.

Command filtered adaptive tracking control of nonlinear systems with prescribed performance under time‐variant parameters and input delay

“…3. Different from the ensured ultimately bounded-error tracking performance in existing results, [16][17][18]20,21,[28][29][30][31][32][33][34][35][36][37] the zero-error steady-state tracking performance is ensured in this article. Meanwhile, unlike existing results only with the preset output tracking error in References 23, 38-40, the tracking errors of all the system states can stay in the preset regions here.…”

“…Remark 1. Given that time-variant parameters, disturbances, and input delay are considered simultaneously, the system (1) is more general than that in [21][22][23]36,37. This emphasizes the fundamental discrepancy between this article and the existing command filtering control methods. [13][14][15][16][17][18][21][22][23]36,37 Besides, most of these results can ensure ultimately uniformly bounded-error tracking performance for closed-loop systems only while the zero-error asymptotic convergence performance is a more important index in practical systems.…”

“…2. By exquisitely constructing a set of auxiliary systems, both the command filtered errors and time-varying input delay can be compensated simultaneously, in which the problem named "explosion of complexity" arising in traditional backstepping controllers [1][2][3][4][5][6][7][8][9][10][11][12][28][29][30][31][32][33][34][35][36][37][38][39][40] is removed as well. Besides, a smooth nonlinear term with an updated gain is introduced into the designed controller procedure to concurrently compensate for time-variant parameters and external disturbances.…”

Event‐triggered controller design from the control input perspective

“…Networked control is increasingly gaining attention in the past decades as it is able to improve control efficiency and reduce operation cost. [1][2][3][4] For networked control systems (NCSs), effective signal communication among different system nodes is indispensable to guarantee desired system performance. However, in many practical NCSs such as power grid, there exist numerous individual tasks that require communication channels to conduct simultaneous signal transmissions, leading to a competition for limited bandwidth of communication channels.…”

“…Networked control is increasingly gaining attention in the past decades as it is able to improve control efficiency and reduce operation cost 1‐4 . For networked control systems (NCSs), effective signal communication among different system nodes is indispensable to guarantee desired system performance.…”