Adaptive Asymptotic Tracking Control of Uncertain Nonlinear Systems Based on Taylor Decoupling and Event-Trigger

This article studies the robust adaptive asymptotic tracking control problem for uncertain nonlinear systems with event-triggered inputs. Contrary to existing results, a novel nonaffine input separated design scheme is developed based on Taylor decoupling technique instead of previous approximation ways. Correspondingly, augmented dimension parameter updated laws and unknown bound estimation compounded disturbance positive continuous integrable function are skillfully introduced. Also, by introducing suitable decreasing error variables, an improved mechanism constructed achieve communication load can be effectively alleviated. Moreover, it shown that all signals in closed-loop system uniformly bounded errors converge zero preset compact set. Finally, validity proposed method illustrated simulation inverted pendulum model.