A Concurrent Event-Triggered Approach for Fuzzy Adaptive Control of Nonlinear Strict-Feedback Systems.

If a control input signal constructed by backstepping is used to generate an event-triggered control signal, then not only the real control input is discontinuous, but all the virtual control signals that make up the control signal are also discontinuous and have the same triggering instants with the control input. This fact makes the control design and stability analysis more difficult and complex via backstepping. This article focuses on this problem and works at coming up a new backstepping design procedure of event-triggered fuzzy adaptive control for nonlinear strict feedback systems. A concurrent event-triggered mechanism is proposed to ensure that the real control input and the virtual control signals have the same triggering instants. Then, a systemic backstepping design procedure is developed to construct event-triggered fuzzy adaptive controller. The Lyapunov technique for nonlinear impulsive system is employed to provide the closed-loop stability analysis. It is shown that the derived event-triggered fuzzy adaptive controller ensures that the closed-loop system output well follows the desired tracking trajectory and the other closed-loop signals remain bounded. Eventually, two examples are provided to further verify the applicability and reliability of the presented control scheme.