Adaptive Event-Triggered Control With Sampled Transmitted Output and Controller Dynamics

The event-triggered control with intermittent output can reduce the communication burden between the controller and plant sides over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in the literature; however, the controller must partially reside at the plant side where computation capacity is required. In this article, all controller components are moved to the controller side, and their dynamics use sampled states rather than continuous ones with the benefit of directly estimating the next triggering instance of some conditions and avoiding constantly checking the event condition at the controller side. However, these bring two major challenges. First, the virtual input designed in the dynamic filtering technique for stabilization is no longer differentiable. Second, the plant output is sampled to transmit at the plant side and sampled again at the controller side to construct the controller, and the two asynchronous samplings make the analysis more involved. This article solves these two issues by introducing a new state observer to simplify the adaptive law, a set of continuous companion variables for stability analysis, and a new lemma quantifying the error bound between the actual output signal and the sampled transmitted output. It is theoretically guaranteed that all internal signals in the closed-loop system are semiglobally bounded and the output is practically stabilized to the origin. Finally, the numerical simulation illustrates the effectiveness of the proposed scheme.