Event-Triggered Practical Tracking Control for a Class of Uncertain Euler-Lagrange System with Actuator Faults
Event-triggered practical tracking control is studied for a class of Euler-Lagrange systems with actuator faults.For such control problem,a novel adaptive event-triggered design scheme is proposed.Specifically,system uncertainties are overcome by introducing a dynamic gain into the back-stepping design procedure,and meanwhile,the constraints on the reference signal of the existing results are relaxed by a smart choice of the updating law for the dynamic gain and the virtual control.Compared with the existing results,the investigated system allows more seri-ous uncertainties and relaxes the limitations on the generality and measurability of the reference signal.Theoretical analysis is given to show that the designed controller can ensure that all signals of the closed-loop system are bound-ed while the system output practically tracks the reference signal,along with that all the sampling intervals are strictly greater than a positive constant.Finally,the effectiveness of the method is verified by a simulation example.
万方数据
