Event-Triggered Adaptive Neural Control for MIMO Nonlinear Systems With Rate-Dependent Hysteresis and Full-State Constraints via Command Filter

This article presents an event-triggered adaptive NN command-filtered control for a class of multi-input and multi-output (MIMO) nonlinear systems with unknown rate-dependent hysteresis in the actuator and the constraints on full states. The ETM is used to reduce the communication frequency between controller and actuator. The command filter technique is first employed to solve the dilemma between the nondifferentiable control signal at triggering instants and rate-dependent hysteresis input premise while avoiding the "explosion of complexity" problem. During the backstepping design, the barrier Lyapunov functions are utilized to guarantee that system states will stay in certain regions and the unknown nonlinear items are approximated by adaptive neural networks. The compensating signals are constructed to eliminate filtering errors. The estimates of unknown hysteresis parameters are updated by adaptive laws. The stability analysis is given and the effectiveness of the proposed method is verified by simulation.