Event-Triggered State-Dependent Switching for Adaptive Fuzzy Control of Switched Nonlinear Systems

In this article, an event-triggered state-dependent switching method is proposed to address adaptive fuzzy control problem for a class of multi-input multi-output switched nonlinear systems with IOCs. IOCs mean that output constraints can occur in some intermittent time intervals rather than for all time. Unlike traditional continuously monitored state-dependent switching laws, an event-triggered state-dependent switching law is constructed to overcome the difficulty of the corresponding problem of subsystems being unsolvable, which is caused by unknown control gains of subsystems going through zero. Meanwhile, a positive lower bound of consecutive switching instants is derived. Also, it is achieved that adaptive fuzzy controller and switched update laws are event-triggered by designing several new switching event-triggering mechanisms, which results in the reduction of communication and computation loads. Furthermore, by developing some modified shifting functions and barrier functions, more general intermittent output constraints are handled. The effectiveness and applicability of the method proposed are verified by a mass-spring-damper system.