Self-Triggered Tracking Control for Continuous-Time MIMO Nonlinear Systems

In this paper, a tracking control is studied in the self-triggered manner for continuous-time multi-input-multioutput nonlinear system. We have considered bounded unmodeled dynamics and disturbances as well. The proposed controller is renewed at every trigger time. The next trigger time can be determined without dedicated device. Rigorous theoretical analysis is provided and then we obtain the closed-loop stability. The tracking error is uniformly ultimately bounded. In final, simulation results are provided to demonstrate the tracking performance.