Event-Triggered Prescribed Performance Fuzzy Optimal Tracking Control for Strict-Feedback Nonlinear Systems
Abstract: The prescribed performance event-triggered optimal tracking control problem is considered for a class of uncertain strict-feedback nonlinear systems with external disturbances. The disturbance observers are employed to estimate external disturbances. The fuzzy logic systems are employed to approximate unknown nonlinearities and cost function. The controller contains an adaptive fuzzy controller and an optimal compensation term. Firstly, an adaptive fuzzy controller is established by the dynamic surface control (DSC) technique, which is addressed to handle ``computation complexity'' issue occurred in conventional backstepping approach. An event-triggered mechanism is established to reduce communication load. Subsequently, based on adaptive dynamic programming (ADP) method, an optimal compensation term is developed by minimizing the cost function. In addition, the tracking error can be restricted in the prescribed region with the aid of the prescribed performance control. Thus, the whole control scheme can not only ensure that the tracking error converges to a boundary with prescribed performance but also minimize the cost function, reduce the communication burden and avoid ``computation complexit'' issue. The boundedness of all signals in the closed-loop is proved. Finally, the simulation example illustrates the validity of the designed control scheme.
Submission Number: 227
Loading