Event-triggered-based adaptive decentralized asymptotic tracking control scheme for a class of nonlinear pure-feedback interconnected systems

This paper focuses on the adaptive decentralized asymptotic tracking control problem for a family of nonlinear pure-feedback interconnected systems. Through the ingenious backstepping-based design, the controllers of all subsystems are developed to mitigate the effects of system interconnections. These controllers only need to update two parameters online in each subsystem; thus, the complexity of analytic calculations is successfully reduced. In addition, in order to acquire the desired tracking performance, some significant mathematical methods are used to eliminate the influence of the residual errors caused by the estimation algorithm. By Lyapunov analysis method, the semi-globally uniformly boundedness of all the signals in the resulting closed-loop system is proven. The proposed scheme has its own advantages: (1) hold the asymptotic output tracking performance; (2) release the requirements for known nonlinear terms in the design procedure; (3) reduce the transmitting frequency of computer and make the use of computer resources more efficient. Finally, rich simulation results are given to show the effectiveness of the proposed control scheme.