In this article, an improved model-free adaptive control (iMFAC) is proposed for discrete-time multi-input multioutput (MIMO) nonlinear systems with an event-triggered transmission scheme and quantization (ETQ). First, an event-triggered scheme is designed, and the structure of the uniform quantizer with an encoding-decoding mechanism is given. With the concept of partial form dynamic linearization based on event-triggered and quantization (PFDL-ETQ), a linearized data model of the MIMO nonlinear system is constructed. Then, an improved model-free adaptive controller with the ETQ process is designed. By this design, the update of the pseudo partitioned Jacobean matrix (PPJM) estimates and control inputs occurs only when the trigger conditions are met, which reduces the network transmission burden and saves the computing resources. Theoretical analysis shows that the proposed iMFAC with the ETQ process can achieve a bounded convergence of tracking error. Finally, a numerical simulation and a biaxial gantry motor contour tracking control system simulation are given to illustrate the feasibility of the proposed iMFAC method with the ETQ process.

中文翻译：

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具有事件触发传输方案和量化的改进 MIMO 非线性系统的无模型自适应控制


在本文中，提出了一种改进的无模型自适应控制（iMFAC），用于具有事件触发传输方案和量化（ETQ）的离散时间多输入多输出（MIMO）非线性系统。首先，设计了事件触发方案，并给出了具有编解码机制的均匀量化器的结构。利用基于事件触发和量化的部分形式动态线性化(PFDL-ETQ)的概念，构建了MIMO非线性系统的线性化数据模型。然后，设计了一种改进的带有ETQ过程的无模型自适应控制器。通过这种设计，伪划分雅可比矩阵（PPJM）估计和控制输入的更新仅在满足触发条件时发生，从而减轻了网络传输负担并节省了计算资源。理论分析表明，所提出的 iMFAC 与 ETQ 过程可以实现跟踪误差的有界收敛。最后，给出了数值仿真和双轴龙门电机轮廓跟踪控制系统仿真，说明了所提出的 iMFAC 方法与 ETQ 过程的可行性。