A Dynamic Gain Method to Event-Triggered Tracking Control for Uncertain Nonlinear Systems With Input Quantization

Abstract

In this article, we propose a dynamic gain method to solve the event-triggered output feedback tracking control problem of uncertain strict-feedback nonlinear systems subject to input quantization. The nonlinear terms admit an incremental rate depending on an unknown constant and an output polynomial function. Two configurations of the event-triggered quantized controller are presented, namely, quantization after triggering and quantization before triggering. Based on the dynamic scaling transformations, the continuous controllers are designed, respectively, for these two configurations. By introducing the novel quantizers and threshold strategies, the desired discrete controllers are obtained. For both of the configurations, the tracking error converges within the prespecified small interval. Moreover, all the closed-loop signals are bounded and the Zeno phenomenon is avoided. In contrast to many existing results on tracking control of nonlinear systems, the proposed dynamic gain method is more concise and liable to implement. A simulation example is provided to verify the effectiveness of the proposed control schemes.