In this paper, an event-trigger-based adaptive funnel control problem is considered for a class of pure-feedback nonlinear systems. Due to the nonaffine variables existed in the virtual controls of pure-feedback systems, the implicit function theorem and mean-value theorem are adopted to guarantee the existence of the ideal virtual controls, which can be effectively approximated by neural networks. Then, a novel event-triggered control strategy is designed to consume less communication resources. The event-triggered condition depends on the amplitudes of the control input, the tracking error and a fixed threshold, which makes the control more flexible in real applications. Furthermore, the proposed control scheme ensures the transient and steady state performance for the tracking errors by constructing a funnel constraint function. Also, the stability analysis proves that all the signals of the closed-loop system are uniformly ultimately bounded. Finally, the feasibility and effectiveness of the proposed control scheme are verified through the simulation.

中文翻译：

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一类具有事件触发策略的纯反馈非线性系统的自适应神经漏斗控制

在本文中，考虑了一类纯反馈非线性系统的基于事件触发的自适应漏斗控制问题。由于纯反馈系统的虚拟控制中存在非仿射变量，因此采用隐函数定理和均值定理来保证理想虚拟控制的存在，可以有效地被神经网络逼近。然后，设计了一种新颖的事件触发控制策略以消耗更少的通信资源。事件触发条件取决于控制输入的幅度、跟踪误差和固定阈值，这使得控制在实际应用中更加灵活。此外，所提出的控制方案通过构建漏斗约束函数来确保跟踪误差的瞬态和稳态性能。还，稳定性分析证明闭环系统的所有信号最终一致有界。最后，通过仿真验证了所提出的控制方案的可行性和有效性。