Adaptive backstepping control of high-order fully actuated nonlinear systems with event-triggered strategy

Abstract

This paper investigates the problem of adaptive event-triggered fuzzy control for nonlinear high-order fully actuated systems. In this paper, a completely unknown nonlinear function is considered, and its prior knowledge is unknown. To solve this problem, the fuzzy logic system technology is applied to approximate the unknown nonlinear function. In order to save communication resources, a novel high-order event-triggered controller is proposed under backstepping control. With the help of Lyapunov stability theory, it is proved that all signals of the closed-loop system are bounded. Finally, the theoretical results are applied to the robot system to verify their validity.

Keywords

fuzzy logic system / event-triggered strategy / high-order fully actuated nonlinear systems / adaptive control