This article introduces an adaptive dynamic event-triggered technique for addressing the output tracking control problem of uncertain switched nonlinear systems with prescribed performance. First, a switching dynamic event-triggered mechanism (SDETM) is established to alleviate network burden and conserve computational resources. A notable aspect is the inclusion of asynchronous switching between the switching subsystems and controllers. Second, a state-dependent switching law ensuring a dwell-time constraint is designed, which avoids the frequent switching phenomenon within any finite time interval. Third, an SDETM and an adaptive dynamic event-triggered controller are developed to confine the output tracking error within predefined decaying boundaries, while ensuring that all the signals of the closed-loop switched system remain within bounded regions. Finally, the validity and applicability of the developed control scheme are demonstrated through a one-link manipulator example.

中文翻译：

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状态相关切换下不确定切换非线性系统的自适应动态事件触发跟踪控制


本文介绍了一种自适应动态事件触发技术，用于解决具有指定性能的不确定切换非线性系统的输出跟踪控制问题。首先，建立切换动态事件触发机制（SDETM）以减轻网络负担并节省计算资源。一个值得注意的方面是包括切换子系统和控制器之间的异步切换。其次，设计了一种确保停留时间约束的状态相关切换律，避免了任何有限时间间隔内的频繁切换现象。第三，开发了 SDETM 和自适应动态事件触发控制器，将输出跟踪误差限制在预定义的衰减边界内，同时确保闭环切换系统的所有信号保持在有界区域内。最后，通过单连杆机械臂实例验证了所开发控制方案的有效性和适用性。