Stability for IT2 T-S fuzzy systems under alternate event-triggered control

In this paper, an alternate event-triggered control is proposed to achieve stability of interval type-2 Takagi–Sugeno fuzzy systems. Comparing with the existing literature, this new control strategy displays an almost complete aperiodic feature which eliminates the conservativeness caused by time-triggered property of the traditional aperiodically intermittent control. Moreover, with two events being triggered alternately in this control strategy through examining two predetermined conditions, the efficiency of control can be further improved and the resources consumption can be greatly reduced. By employing the Lyapunov function and graph theory, several stability criteria are rigorously demonstrated. In addition, Zeno behavior is excluded in our system through obtaining a positive lower bound of the time interval between two triggering points. Subsequently, the validity of the presented strategy is evidenced by single-link robot arms systems. Finally, a numerical example is given to lend insight into the feasibility of our theoretical results.