Adaptive Dynamic Event-Triggered Tracking Control for Uncertain High-Order Fully Actuated Systems

This paper proposes an adaptive dynamic event-triggered tracking control scheme for a class of uncertain high-order fully actuated (HOFA) systems with input saturation. To address the issue of uncertainties in the system, parameter adaption technology is adopted in the control scheme. Then, a dynamic event-triggered mechanism is proposed in order to mitigate the communication frequency between the controller and the actuator. In contrast to the conventional static event-triggered mechanism, the proposed dynamic event-triggered mechanism enables a more efficient utilization of communication resources. Additionally, based on Lyapunov stability theory, it is strictly proven that the designed controller guarantees the boundedness of all signals within the closed-loop system and prevents the occurrence of Zeno behavior. Finally, the efficacy of the proposed control scheme is substantiated through a numerical simulation case study.