Output feedback control based on event triggered for nonlinear systems with full state constraints

This paper investigates the problem of full state constrained control based on event triggered for a class of high-order nonlinear systems. Compared with the previous designs, the reduced order dynamic gain observer (RDGO) is constructed to estimate the state variables unmeasured. By introducing a barrier Lyapunov function (BLF) to every step in the backstepping procedure, an adaptive backstepping design is well developed to ensure that the full-state constraints are not violated. Then, to relax the requirement of continuous monitoring of controller, we further propose an event-triggered method to deal with this matter. Finally, a simulation example is given to verify the effectiveness of the proposed design method.