Robust Composite Nonlinear Control of Input Saturated Systems based on Event-triggered Strategy

This paper proposes a robust composite nonlinear feedback (RCNF) control based on event-triggered mechanism for input saturation system which has parametric uncertainties. We often use the RCNF control to settle the tracking problems. The RCNF control consists of two parts without any switching elements, one is the linear part, another is the nonlinear part. The linear part is designed to make the system respond quickly but not exceed the actuator limit. The nonlinear part is designed to improve the system dynamic performance. The additional event-triggered mechanism reduces the communication burden of the system. In the end, the feasibility of the proposed method is clearly demonstrated by the numerical simulation results.