Adaptive fuzzy event-triggered command-filtered control for nonlinear time-delay systems

Min Li, Shi Li, Choon Ki Ahn, Zhengrong Xiang

Research output: Contribution to journalArticlepeer-review

71 Citations (Scopus)


This paper focuses on an adaptive fuzzy dynamic event-triggered tracking control for nonlinear time-delay systems with unmodeled dynamics via a command filter method. Fuzzy logic systems are utilized to address the unknown nonlinear functions. The upper bound of the approximation error is allowed to be unknown and can be compensated by skillfully introducing a hyperbolic tangent function to the design of the adaptive laws. Meanwhile, without requiring any assumptions, time delays can be handled by appropriately incorporating the delayed nonlinear functions into the Lyapunov-Krasovskii functional. Then, a dynamic event-triggered control mechanism is designed to dynamically adjust the threshold parameter. Finally, a new adaptive controller is constructed such that all states of the closed-loop system are bounded. The system output is demonstrated to follow the desired signal. Two examples are given to illustrate the validity of the presented method.

Original languageEnglish
JournalIEEE Transactions on Fuzzy Systems
Publication statusAccepted/In press - 2021

Bibliographical note

Publisher Copyright:


  • Adaptive systems
  • Backstepping
  • Command filter
  • Delay effects
  • Delays
  • Fuzzy control
  • Fuzzy logic
  • Nonlinear dynamical systems
  • event-triggered control
  • fuzzy control
  • time-varying delays
  • unmodeled dynamics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computational Theory and Mathematics
  • Artificial Intelligence
  • Applied Mathematics


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