Observer-based self-triggered adaptive decentralized control for uncertain interconnected nonlinear systems

Abstract

In this paper, an observer-based self-triggered adaptive decentralized control method is presented for uncertain interconnected nonlinear systems (UINS) with unmeasured states. First, an adaptive state observer is constructed to estimate unmeasured system states. Then, the observer-based self-triggered controller is developed by applying the famous backstepping technique, in which the controller signal is updated based on the well-designed self-triggered protocol. Moreover, parameter adaptive laws are designed to address unknown parameters of UINS. Lyapunov theory is employed to prove that all signals of the UINS are semi-globally uniformly ultimately bounded (SGUUB) and the Zeno behavior will not appear. Simulation results manifest the efficacy of the derived self-triggered control solution.