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<p>This paper explores the problem of asymptotic tracking control for nonlinear parameterized systems with deferred performance constraints. In contrast to conventional methods, this study achieves asymptotic stability of the system while significantly reducing the communication frequency by designing a dynamic event-triggering mechanism (DETM) associated with the residuals of each subsystem, rather than relying on decay parameters. Additionally, a novel error shifting function is introduced to address singular issues in deferred-constrained control, and a non-singular deferred funnel technique is proposed for implementing deferred funnel constraint control. Within the backstepping recursive framework, rigorous proof of the asymptotic stability of the closed-loop system is provided using Lyapunov stability theory, ensuring the effectiveness of deferred funnel constraints. Finally, the effectiveness and feasibility of the asymptotic tracking control approach are validated through a simulation example of a manipulator system.</p>

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Event-based asymptotic tracking control for nonlinear system with funnel performance

  • 期刊论文

  • 发表日期：

    2025年3月18日

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  • Xinfeng Shao,
  • Kewen Li,
  • Yongming Li

摘要

This paper explores the problem of asymptotic tracking control for nonlinear parameterized systems with deferred performance constraints. In contrast to conventional methods, this study achieves asymptotic stability of the system while significantly reducing the communication frequency by designing a dynamic event-triggering mechanism (DETM) associated with the residuals of each subsystem, rather than relying on decay parameters. Additionally, a novel error shifting function is introduced to address singular issues in deferred-constrained control, and a non-singular deferred funnel technique is proposed for implementing deferred funnel constraint control. Within the backstepping recursive framework, rigorous proof of the asymptotic stability of the closed-loop system is provided using Lyapunov stability theory, ensuring the effectiveness of deferred funnel constraints. Finally, the effectiveness and feasibility of the asymptotic tracking control approach are validated through a simulation example of a manipulator system.