Asymptotic Tracking Control of Nonlinear Strict-Feedback Systems With State/Output Triggering: A Homogeneous Filtering Approach

This article studies the problem of event-triggered (ET) backstepping control with state/output triggering for nonlinear strict-feedback systems. To address the issue of nondifferentiability of virtual controls caused by the ET mechanism, a set of homogeneous feedback filters are constructed to generate smooth state/output estimates with necessary differentiability, all states of which are the estimates of the state of the subsystem of the same order. Then, new coordinate transformations are introduced and the traditional backstepping procedure is reconstructed. Compared with the existing output-triggering backstepping control results where only semiglobal uniformly ultimate boundedness is ensured, the proposed control scheme can achieve globally asymptotical convergence.