This article studies the event-triggered control problem for nonholonomic systems in the chained form with disturbances and drift uncertain nonlinearities. Both the cases of state-feedback and output-feedback are investigated. To address the effects of nonholonomic constraints in event-triggered control, a new systematic design integrating a state-scaling technique and set-valued maps are proposed. A crucial strategy is to transform the event-triggered control system into an interconnection of multiple input-to-state stable systems, to which the cyclic-small-gain theorem is applied for event-based controller synthesis. It is shown that the cyclic-small-gain-based design scheme leads to Zeno-free event-triggered controllers. For the output-feedback case, a new nonlinear observer is designed to deal with the sampling errors. Interestingly, the obtained results are new even if the plant model is disturbance-free. Both numerical and experimental results validate the efficiency of the proposed cyclic-small-gain-based event-triggered control methodology.

中文翻译：

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不确定非完整系统的鲁棒事件触发状态和输出反馈控制器的系统设计


本文研究具有扰动和漂移不确定非线性的链式非完整系统的事件触发控制问题。研究了状态反馈和输出反馈两种情况。为了解决事件触发控制中非完整约束的影响，提出了一种集成状态缩放技术和集值映射的新系统设计。一个关键策略是将事件触发控制系统转变为多个输入状态稳定系统的互连，并应用循环小增益定理进行基于事件的控制器综合。结果表明，基于循环小增益的设计方案可产生无 Zeno 事件触发控制器。对于输出反馈情况，设计了一种新的非线性观测器来处理采样误差。有趣的是，即使工厂模型不受干扰，所获得的结果也是新的。数值和实验结果都验证了所提出的基于循环小增益的事件触发控制方法的效率。