Event-triggered tracking control for a class of nonlinear systems with disturbances is investigated in this paper. Compared to existing related results, the nonlinearities only need to satisfy a generalized Lipschitz condition, and the time-varying external disturbances are allowed to be unmatched. By using finite-time disturbance observers, the finite-time estimation of the steady states is achieved to reduce the complexity of tracking control design. The event-triggered controller is designed by a new feedback domination approach, which can dynamically compensate for both errors caused by disturbances and the sampled-data implementation of the controller. A new Lyapunov stability analysis is given to show that all the signals of the closed-loop system are globally bounded and the tracking error is ensured to converge to a set, which can be made as small as desired by adjusting control parameters. Finally, a numerical example demonstrates the effectiveness of the designed scheme.

研究了一类带有扰动的非线性系统的事件触发跟踪控制。与现有的相关结果相比，非线性仅需要满足广义的Lipschitz条件，并且时变外部干扰是不匹配的。通过使用有限时间干扰观测器，可以实现对稳态的有限时间估计，从而降低了跟踪控制设计的复杂性。通过新的反馈控制方法设计事件触发的控制器，该方法可以动态补偿由干扰引起的误差以及控制器的采样数据实现。一项新的Lyapunov稳定性分析表明，闭环系统的所有信号都是全局有界的，并且确保跟踪误差收敛到一个集合，通过调整控制参数可以将其减小到所需的大小。最后，通过数值算例验证了所设计方案的有效性。