LAUSR

In this paper, the global robust output regulation problem of a class of uncertain nonlinear systems is investigated by the event-triggered adaptive control law for the case of unknown control direction. The Nussbaum-type function-based technique is proposed to tackle the presence of unknown control direction. Then, by applying the adaptive control technique and the internal model principle, a new event-triggered adaptive control method is proposed. With the proposed corresponding event-triggered mechanism, the output regulation of the nonlinear systems can be realized regardless of the unknown control direction, meanwhile the Zeno behavior can be excluded. Finally, a numerical example is presented to verify the effectiveness of the proposed control law.