Achieving Given Precision Within Prescribed Time yet With Guaranteed Transient Behavior via Output Based Event-Triggered Control

Abstract

It is interesting yet nontrivial to achieve given control precision within user-assignable time for uncertain nonlinear systems. The underlying problem becomes even more challenging if the transient behavior also needs to be accommodated and only system output is available for feedback. Several key design innovations are proposed to circumvent the aforementioned technical difficulties, including the employment of state estimation fllters with event-triggered mechanism, the construction of a novel performance scaling function and an error transformation. In contrast to most existing performance based works where the stability is contingent on initial conditions and the maximum allowable steady-state tracking precision can only be guaranteed at some unknown (theoretically infinite) time, in this work the output of the system is ensured to synchronize with the desired trajectory with arbitrarily pre-assignable convergence rate and arbitrarily pre-specified precision within prescribed time, using output only with lower cost of sensing and communication. In addition, all the closed-loop signals are ensured to be globally uniformly bounded under the proposed control method. The merits of the designed control scheme are confirmed by numerical simulation on a ship model.