Adaptive event‐triggered stabilization control of uncertain nonholonomic systems under full‐state constraints: Theory and experiment

This paper proposes an adaptive event‐triggered stabilization control strategy based on the backstepping method for a class of uncertain nonholonomic systems subject to full‐state constraints. First, a barrier Lyapunov function is employed to address the constraint of the ‐subsystem, and a state‐based event‐triggered stabilization controller is designed. Subsequently, the ‐subsystem is transformed into an unconstrained system using the state scaling technique. By combining the backstepping method with a first‐order filter and incorporating a filter compensation term, an adaptive relative‐threshold event‐triggered stabilizing controller is developed for the transformed system. To overcome the limitations of the state scaling approach, when the initial system state is zero, the state is first driven into a nonzero region before applying the adaptive event‐triggered control. Theoretical analysis demonstrates that the proposed adaptive event‐triggered stabilization controller ensures the stability of the closed‐loop system while adhering to full‐state constraints and excluding Zeno behavior. Finally, simulations and experiments verify the effectiveness of the proposed control scheme.