Adaptive dynamic surface control of MIMO nonlinear systems: A hybrid event triggering mechanism

This paper addresses the event-triggered stabilization control for multi-input and multi-output (MIMO) nonlinear systems. To handle the "explosion of complexity", the dynamic surface control (DSC) technology is introduced to the proposed control scheme. In addition, the event-driven idea is adopted to mitigate the data transmission pressure in sensor-to-controller and controller-to-actuator channels. Considering that the non-derivable virtual controllers are commonly constructed in the event-triggered control schemes aiming at saving dual-channel resources, in this paper, a hybrid event-triggering mechanism with multiple event detectors is developed to obtain differentiable virtual control signals, thereby providing a suitable application environment for the DSC technology. Meanwhile, an output-based adaptive threshold is designed to obtain more communication benefits compared with the fixed threshold strategy. Finally, all signals in the closed-loop system are ensured to be bounded under a standard Lyapunov stability analysis framework, and the effectiveness of the proposed control scheme is validated by a simulation example.