Adaptive State Event Triggered Control for Uncertain Unmanned Fire-fighting Robots

To alleviate the pressure of network signal transmission, this paper investigates the adaptive control problem of the uncertain unmanned fire-fighting robots (UFFRs) based on post-triggered state signals and controller signals. All state signals are updated and transmitted through a designed triggered mechanism, so the controller can only utilize the state signals after being triggered. Therefore, it is a challenge to compensate for the continuous state signals that arise during the design process. For this reason, we introduce a dynamic variable in the Lyapunov function and the controller. By designing the derivative of this variable, terms containing continuous state signals are eliminated. It is worth noting that this derivative is also only used for the post-triggered state signals. By Lyapunov’s stability theorem, the global boundedness of all signals within the system is rigorously proved. Finally, a simulation example is presented to verify the efficacy of the proposed control scheme.