Dynamic event-triggered tracking control for high-order nonlinear systems with time-varying irregular full-state constraints and input saturation.

Abstract

This paper investigates the unified tracking control problem for a class of high-order nonlinear systems with 7 kinds of irregular state constraints and input saturation based on the dynamic event-triggered mechanism. The irregular state constraints exist in practical systems, including time-varying constraints, alternation between positive and negative bounds, adding/removing constraints during system operation, and the state of the system being constrained only by the upper/lower boundaries. Auxiliary constraint boundaries are introduced to deal with these irregular state constraints. This unified method allows different auxiliary constrained boundaries in response to specific circumstances, without affecting the controller's structure. Nonlinear transformed functions (NTFs) are used to eliminate the feasibility condition of barrier Lyapunov functions (BLFs) methods. Subsequently, based on the dynamic event-triggered mechanism and adding a power integrator technique, an event-triggered controller is designed to effectively reduce communication burden and energy consumption between the controller and the actuator. Finally, a simulation example and a practical example are given to verify the effectiveness of the proposed unified control method.