Dynamic event-triggered adaptive control for a class of uncertain nonlinear systems (Q6088355)

It is considered the controlled system \begin{align*} \dot{x}_i &= x_{i+1} + f_i(\bar{x}_i) + \varphi_i^T(\bar{x}_i)\theta,\quad i=1,\ldots,n-1\\ \dot{x}_n &= f_n(x) + \varphi_n^T(x)\theta + u(t)\\ y &= x_1 \end{align*} with the following notations: \(x=(x_1,\dots,x_n)^T\in \mathbb{R}^n\), \(\bar{x}_i=(x_1,\dots,x_i)^T\in \mathbb{R}^i\) are the state variables of the system, \(u(t)\in \mathbb{R}\) is the control input, \(y\) - the system output; the nonlinear functions \(\varphi_i:\mathbb{R}^i\to \mathbb{R}^r\) and \(f_i:\mathbb{R}^i\to \mathbb{R}\) are known \(\gamma\)-th order smooth nonlinear functions (\(\gamma\geq n+1-i\)), \(\theta\in \mathbb{R}^n\) is the vector of all unknown system's parameters. It is required to design what is called \textit{dynamic event triggered control law} such that the output signal can track a reference signal \(r(t)\) and all the system states are globally bounded. The paper emphasizes the controller structure design. Then the main result is a theorem showing fulfilment of the asymptotic track, global boundedness of the state variables and nonexistence of the so called \textit{Zeno behavior}. This last aspect of the closed loop system (continuous time controlled system and discrete time controlled structure).