On Event-triggered Adaptive Robust Control

In this work, an event-triggered adaptive robust controller (ET-ARC) design is considered for a continuous-time nonlinear system combined with structural uncertainties and parameter uncertainties. In the event-trigger scheme, the controller only can obtain the sampled date of the output measurement at some certain instants determined by the designed triggering condition and therefore the performance of the ET-ARC depends on the triggering condition directly. Thus, in this work, for the adaptive robust control scheme, an event-triggered transmission strategy is proposed, which relies on the output measurement of the nonlinear system. Then, based on this strategy, the design idea of the adaptive robust controller is presented such that the tracking performance is guaranteed. Furthermore, based on a more general assumption, we provide a possible formation of control signal which satisfies the requirement proposed.