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Event-triggered adaptive control of uncertain non-linear systems under input delay and limited resources

 

Title Event-triggered adaptive control of uncertain non-linear systems under input delay and limited resources
Authors Al Issa, S., Department of Electronics and Electrical Engineering, IIT Guwahati, Guwahati, Assam  781039, India, Department of Computer Engineering and Automation, Damascus University, Damascus, Syrian Arab Republic; Kar, I., Department of Electronics and Electrical Engineering, IIT Guwahati, Guwahati, Assam  781039, India
Source title International Journal of Dynamics and Control
ISSN 2195268X
Q Q2
Link https://www.scopus.com/inward/record.uri?eid=2-s2.0-85101762490&doi=10.1007%2fs40435-021-00767-7&partnerID=40&md5=06aded73866e51dea9d3f427ead69540
Abstract In this paper, both input delay and limited bandwidth challenges in uncertain networked control systems have been tackled. For this purpose, an event-triggered adaptive controller based on backstepping technique is designed for a general class of non-linear uncertain MIMO systems. The event-triggered mechanism is placed in the sensor-to-controller channel to reduce communication burden and save computational resources. Rather than predefined fixed or simple relative triggering thresholds, the proposed triggering condition is derived based on the negative semi-definiteness of derivative of Lyapunov function. To handle input delay problem, an auxiliary compensation system based on integral of input signal is introduced in the controller design. System stability are guaranteed under proposed scheme with no Zeno behavior. Simulation results on three-link cylindrical robotic arm show that the proposed control scheme successfully compensates for input delays and ensures a substantial saving in computational and network resources characterized by number of required control updates and signal transmissions over the network.

 



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