Event-Triggered Dynamic Gains-Based Control of Nonlinear Systems

In this study, we present a control framework based on event-triggered dynamic gains for nonlinear systems, aimed at improving performance in the presence of external disturbances. The constantfeedback gains commonly used in the literature are replaced with dynamic gains. An event-triggered mechanism is developed to initiate the growth of these dynamic gains. When the state's variations exceed a predetermined threshold, the dynamic gains will increase at a specific rate during the subsequent interval. For any predetermined threshold, it is rigorously proven that these dynamic gains experience a finite number of growth intervals, leading the state to converge within this threshold in finite time. Then, the event-triggered dynamic gains are integrated into the fault-tolerant control scheme, enabling the state to converge into a prescribed neighborhood of zero without requiring prior knowledge of actuator faults and external disturbances. Finally, two numerical examples illustrate the effectiveness and innovation of the proposed scheme.