Event-Triggered Tracking Control for High-Order Fully Actuated Strict-Feedback Systems

In this paper, event-triggered tracking control scheme is proposed for a class of high-order strict-feedback systems with uncertain nonlinear system functions. The structure of the subsystems in high-order nonlinear strict-feedback systems satisfies the high-order fully actuated (HOFA) system model and the order of each subsystem is not necessarily the same. The system meets the fully actuacted property, that is, the control gain matrix is reversible. Therefore, a relatively simple controller designed by using the HOFA system approach can convert the closed-loop system into a constant linear system with the desired characteristic structure. Based on the backstepping method, a switched threshold event-triggered control method is constructed to realize the tracking control, meanwhile reduce the update frequency of controllers. In addition, the robust controller constructed using the switched threshold event-triggered strategies can guarantee that all signals in the whole closed-loop system are bounded and violate the Zeno behavior. Finally, the simulation results illustrate the validity of the proposed schemes by a practical example.