Constraint-Depentdent Switching Event-Triggered Control for UncertainNonlinear Systems with State Constraints

This paper investigates the event-triggered control problem for a class of strict-feedback uncertain nonlinear systems with switching state constraints. The main challenges of such work arise from two aspects: (1) The state is not constrained at all moments, so the constraints on the state are not fixed, resulting in switches between bounded and unbounded constraints. The existing research is more suitable for bounded constraints. (2) Due to the presence of switching constraints, we aim to address these scenarios with varying control performance, existing research addresses this solely via offline tuning of the controller and its parameters. To solve the above problems, we develop a new exponential nonlinear state-dependent function (ENSDF). The ENSDF transforms the constraint problem of the original state into the boundedness problem of the new state, independent of the boundedness of the constraint boundaries. Then, a new constraint-dependent switching event-triggered controller is developed. The switching event-triggered controller based on ENSDF can dynamically adjust the controller and its parameters online to adapt to switching constraints. It is theoretically shown that the state does not violate the constraints, all closed-loop signals are globally bounded, and the tracking error converges towards an adjustable compact set.