Adaptive event-triggered control with dynamic dwell time of uncertain nonlinear systems

Event-triggered control, as networked systems are popular, is increasingly appreciated. Such control could arouse essential saving of communication/computation and would lay the groundwork for networked (control) systems. However, due to the discontinuity and hybrid nature of event-triggered control, the exclusion of Zeno phenomenon is the premise of its workability. Aiming to circumvent the Zeno behaviour more explicitly, we attach a dynamic dwell time to triggering mechanism and propose a new adaptive event-triggered control scheme for uncertain nonlinear systems. Specifically, a set of dynamic gains are first introduced to compensate for large uncertainties and nonlinearities, and the indispensability of a set of gains rather than a gain is elaborated on. Then, from a dynamic-gain-dependent monitoring rule, the positive dwell time is generated so that the Zeno phenomenon can be excluded automatically. In particular, the rule enables system behaviour to be always monitored by evaluating the sampling errors of gains. Based on this, we construct an adaptive controller with linear structure, which allows the execution error can be estimated explicitly, and in turn suppressed by the gains. It is shown that, with the proposed event-triggered control, all the closed-loop system signals are bounded and the system state ultimately converges to zero. Notably, the designed triggering mechanism could save more resources in theory since the event detection and gains monitoring are performed alternately. The effectiveness and superiority of the proposed scheme is illustrated by two simulation examples.