Dynamic event-triggered adaptive control for a class of uncertain nonlinear systems

This paper investigates the event-triggered control problem for a class of strict-feedback uncertain nonlinear systems. For such kind of systems, many backstepping-based event-triggered control methods have been proposed. However, these currently available methods all adopt static event conditions which cannot simultaneously guarantee zero tracking/stabilization error and non-existence of the Zeno behavior. In this paper, a dynamic event-triggered control scheme for strict-feedback uncertain nonlinear systems is proposed. In this scheme, an auxiliary dynamic variable is included in the event condition. By properly designing the dynamics of this auxiliary variable, the proposed dynamic event-triggered control scheme can ensure zero tracking/stabilization error in the absence of Zeno behavior. Simulation results are provided to illustrate the effectiveness of the proposed scheme and verify the established theoretical results.