This paper investigates an event-triggered adaptive tracking control problem of multi-input and multi-output (MIMO) triangular structure nonlinear systems with nonparametric uncertainties. The implementation of this paper can be roughly classified into two steps: 1) solving the existing rate-limited communication constraints and 2) guaranteeing perfect tracking control performance. By using the relative threshold event-triggered strategy, the communication resource constraint is availably resolved, while the Zeno behavior can be avoided. In addition, by constructing a series of novel Lyapunov functions, an effective adaptive fuzzy control method is developed. The proposed fuzzy control scheme contains fewer calculations by the operation of addressing the square of the norm of the fuzzy weight vector for the entire MIMO system. It is proved that all of the closed-loop signals are global bounded, and the proposed method is not only capable of guaranteeing output tracking performance but is also available to ensure preserved transient performance. Simulation studies show the effectiveness of our approach and verify our established theory.

中文翻译：

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具有保证 MIMO 非线性不确定系统瞬态性能的事件触发自适应模糊跟踪控制


本文研究了具有非参数不确定性的多输入多输出（MIMO）三角结构非线性系统的事件触发自适应跟踪控制问题。本文的实现大致分为两步：1）解决现有的限速通信约束；2）保证完美的跟踪控制性能。通过使用相对阈值事件触发策略，可以有效解决通信资源约束，同时避免Zeno行为。此外，通过构造一系列新颖的Lyapunov函数，开发了一种有效的自适应模糊控制方法。所提出的模糊控制方案通过对整个MIMO系统的模糊权重向量的范数的平方进行寻址操作来包含更少的计算。事实证明，所有闭环信号都是全局有界的，并且该方法不仅能够保证输出跟踪性能，而且还可以确保保留瞬态性能。模拟研究表明了我们方法的有效性并验证了我们既定的理论。