Robust event-driven tracking control with preassigned performance for uncertain input-quantized nonlinear pure-feedback systems |
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| Authors: | Yun Ho Choi Sung Jin Yoo |
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| Institution: | School of Electrical and Electronics Engineering, Chung-Ang University, 84 Heukseok-Ro, Dongjak-Gu, Seoul 156-756, South Korea |
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| Abstract: | This paper presents a simplified design methodology for robust event-driven tracking control of uncertain nonlinear pure-feedback systems with input quantization. All nonlinearities and quantization parameters are assumed to be completely unknown. Different from the existing event-driven control approaches for systems with completely unknown nonlinearities, the main contribution of this paper is to design a simple event-based tracking scheme with preassigned performance, without the use of adaptive function approximators and adaptive mirror models. It is shown in the Lyapunov sense that the proposed event-driven low-complexity tracker consisting of nonlinearly transformed error surfaces and a triggering condition can achieve the preselected transient and steady-state performance of control errors in the presence of the input quantization. |
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| Keywords: | Corresponding author |
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