Adaptive PI event-triggered control for MIMO nonlinear systems with input delay

An adaptive PI event-triggered control method for a class of multi-input and multi-output (MIMO) nonlinear systems with uncertain input delay is proposed. First, a new variable is designed to eliminate the impact of uncertain input delay based on the Pade approximation and Laplace transform. Then, a nonlinear controller with PI structure is developed, it has a linear structure and the ability to deal with uncertainties. Meanwhile, only one parameter is required to be updated online through RBFNN in the system. Moreover, an event-triggered control strategy is established to dynamically allocate the communication resources based on the PI nonlinear controller. With the proposed method, MIMO nonlinear systems are able to handle input delay of different duration dynamically and still maintain superior tracking performance. Finally, the effectiveness of the proposed method is demonstrated through two sets of simulation experiments.