Event-Triggered Adaptive Controller Design with Reduced-Order Observer for Constrained Nonlinear Systems

This paper addresses the adaptive tracking control problem for a class of strict feedback nonlinear systems subject to input saturation and output constraint. By utilizing the designed event-triggering mechanism, the control input signals of the system are sampled aperiodically, which can reduce the number of transmissions as possible. Meanwhile, the closed-loop performance is still preserved. In addition, taking the input saturation error as the input of the constructed auxiliary system, a number of auxiliary signals are generated to deal with the effect of asymmetric input saturation. Note that partial state in the considered system is unavailable, then a more simple reduced-order observer is introduced to estimate them. Finally, simulation results on a one-link manipulator system are presented to demonstrate the feasibility of the proposed control scheme.