Event-Triggered Adaptive Fuzzy Tracking Control With Guaranteed Transient Performance for MIMO Nonlinear Uncertain Systems

This paper investigates an event-triggered adaptive tracking control problem of multi-input and multi-output (MIMO) triangular structure nonlinear systems with nonparametric uncertainties. The implementation of this paper can be roughly classified into two steps: 1) solving the existing rate-limited communication constraints and 2) guaranteeing perfect tracking control performance. By using the relative threshold event-triggered strategy, the communication resource constraint is availably resolved, while the Zeno behavior can be avoided. In addition, by constructing a series of novel Lyapunov functions, an effective adaptive fuzzy control method is developed. The proposed fuzzy control scheme contains fewer calculations by the operation of addressing the square of the norm of the fuzzy weight vector for the entire MIMO system. It is proved that all of the closed-loop signals are global bounded, and the proposed method is not only capable of guaranteeing output tracking performance but is also available to ensure preserved transient performance. Simulation studies show the effectiveness of our approach and verify our established theory.