This paper studies the problem of adaptive backstepping control with full state triggering for a class of parametric uncertain nonlinear systems. The use of triggering mechanism discretizes measured states, which causes the issue of nondifferentiation for virtual control signals and hinders the design of adaptive estimation mechanism for unknown parameters in the traditional backstepping design. To conquer the difficulties, a group of adaptive chainlike filters are designed to generate necessarily smooth state estimates, with adaptive parameters online adjusted by the triggering state estimation errors. It is shown that the designed event-triggered mechanism allows the proposed adaptive backstepping control scheme to achieve asymptotic convergence even in the presence of state discretization.

中文翻译：

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全状态触发不确定非线性严格反馈系统的自适应反步控制

研究一类参数不确定非线性系统的全状态触发自适应反步控制问题。触发机制的使用使测量状态离散化，导致虚拟控制信号的不可微分问题，并阻碍了传统反步设计中未知参数自适应估计机制的设计。为了克服这些困难，设计了一组自适应链式滤波器来生成必要的平滑状态估计，并通过触发状态估计误差在线调整自适应参数。结果表明，设计的事件触发机制允许所提出的自适应反步控制方案即使在存在状态离散的情况下也能实现渐近收敛。