Global Full-State Prescribed Performance Control of Nonlinear Systems With Dead-Zone and 1-Bit-Triggered Input

摘要

This article investigates the problem of global full-state prescribed performance control (GFSPPC) for uncertain nonlinear systems with dead-zone and event-triggered input. By incorporating a unique time-varying funnel function and embedding it into the state transformation function of each step, we present a coordinate transformation. Then, based on the low-complexity methodology, a novel prescribed performance control (PPC) algorithm is developed, which guarantees predefined transient and steady-state performance for both the tracking error and system states in a global sense. Moreover, with our proposed 1-bit-triggered mechanism, only one bit signal (either 0 or 1) is transmitted on the controller-actuator channel from beginning to end, which reduces the bit of data transmission while saving communication resources. The designed control scheme is inherently robust against model uncertainties, external disturbances and dead-zone nonlinearity without the use of the adaptive technique, filters and approximators. Besides, the strictly increasing functions outside the dead-band in existing works are extended to a non-differentiable and locally decreasing form in the considered dead-zone model. Finally, the proposed approach’s effectiveness is confirmed through simulations of the resistance-inductance-capacitance (RLC) circuit system and the robotic manipulator system, respectively.