Event-Triggered Prescribed Performance Control for Switched Uncertain Nonlinear Systems

An event-triggered prescribed performance control (PPC) method is presented for switched uncertain nonlinear systems. Firstly, in order to ensure the comprehensive performance of the system, an effective error transformation function was introduced in the design process of the controller. Then, considering the mismatch behavior caused by the interaction between system switching and event-triggered sampling, a new switching event-triggered mechanism and adaptive control law were designed. Without strict assumptions about the eventtriggered control of switching system, the mismatch problem between subsystems and corresponding controllers was effectively solved, and Zeno behavior was avoided. Finally, the effectiveness of this method is verified by the tracking control simulation of a single connecting-rod mechanical arm.