Event-triggered tracking control for nonlinear system with output saturation

In this paper, a new event-triggered model-free adaptive control method for nonlinear systems subject to output saturation constraint is discussed. Under the compact form dynamic linearization technique framework, an equivalent linear data model is established. The pseudo partial derivative (PPD) parameter estimator is constructed by the saturated output. With the help of system measured error, the adaptive eventtriggered condition is developed to update the estimator. Different from the previous results, the controller is redesigned by the measured output. The boundedness of the system tracking error is guaranteed. A simulation example is shown to demonstrate the feasibility of the proposed algorithm.