Relaxed nonquadratic H∞ robust constrained event-triggered fuzzy controller design for discrete-time nonlinear systems

This paper introduces an [Formula: see text] robust constrained event-triggered fuzzy controller for discrete-time nonlinear systems in the presence of system parameter uncertainties, the parameter uncertainties of the output matrices and the disturbances, simultaneously. To reduce the communication resources and improve the robust performance, the event-triggered mechanism is incorporated with the [Formula: see text] robust fuzzy controller design. Moreover, by employing the fuzzy modeling of the actuator saturation and a nonquadratic Lyapunov function (NQLF), the ultimate bounded stability (UBS) of the closed-loop system is guaranteed subject to the amplitude limitations of the control signal. This means, a new linear matrix inequality (LMI) problem is derived to ensure the robustness and constraints in an offline scheme based on the event-triggered strategy. Besides, to meet the practical problem to further improve the controlled system performance, the control input rate constraint is also considered and a new LMI condition is provided with no online computational burden. Therefore, the computational burden of the proposed controller is greatly reduced with less conservatism. Two simulation examples including a numerical dynamic system and a truck–trailer system are employed to illustrate the less conservatism and computational complexity of the proposed method compared with the existing approaches.