Global dual-channel dynamic event-triggered control of nonlinear strict-feedback systems with prescribed transient performance

In this paper, we develop a novel dual-channel dynamic event-triggered control approach (comprising both the sensor-to-controller and controller-to-actuator channels) for parametric uncertain nonlinear strict-feedback systems. This method guarantees prescribed transient performance using backstepping techniques. Notably, implementing a triggering mechanism at the sensor side poses challenges in designing the backstepping control, as it leads to non-differentiable virtual control signals due to the discontinuous nature of the state/output signals received at the controller side. In contrast to existing results in this domain, our approach features three key innovations: (1) instead of yielding semi-global results, our method enables the achievement of global stability and provides clear guidelines for tuning control parameters; (2) contrasting with conventional static event-triggering mechanisms, our dual-channel dynamic event-triggering design generates larger average inter-event intervals; and (3) unlike traditional barrier functions-based prescribed performance control, our framework allows for controller design based on discontinuous event-triggered states. Finally, the effectiveness and advantages of the proposed event-triggered control approach are validated through a numerical case study. © 2025 Elsevier Ltd.