Event-Triggered Prescribed Performance Control for SISO Uncertain Nonlinear Systems in Brunovsky Canonical Form

In this work, we consider the problem of designing tracking controllers for SISO uncertain high relative degree systems in Brunovsky canonical form in the presence of non-periodic communication. The proposed control scheme is static, and requires no hard calculations, analytic or numerical, to produce the control signal. Event-triggered mechanisms are considered in both sensor-to-controller and controller-to-actuator channels, yet the enforcement of prescribed performance bounds in terms of steady-state accuracy and convergence rate is ensured. No prior knowledge or estimation structure regarding system nonlinearities are required and no high-order derivatives of the desired output trajectories are incorporated in the controller design. Simulation results clarify and verify the theoretical findings.