共查询到20条相似文献，搜索用时 0 毫秒
1.
In this article, the problem of robust output feedback stabilization of single‐input single‐output nonlinear systems is studied in the event‐triggering framework. In this work, an event‐triggered output feedback law based on a high‐gain observer is constructed, which guarantees the stability of closed‐loop system. First, the high‐gain observer with a triggering scheme is designed to estimate the plant state in the presence of external disturbances subject to any satisfactory accuracy of the estimation error. The observer‐based triggering mechanism decides the transmission of plant output to the observer by observing a certain event condition. Similarly, another triggering mechanism is designed using the estimated state of observer that triggers the control signal to be updated only when it is satisfied. Under this proposed event‐triggering framework, the stability of closed‐loop system is then analyzed. Here, we provide the simplified design technique, in which the high‐gain parameter and the triggering thresholds can be selected independently to achieve any desired bound for the plant trajectory. The results are finally demonstrated through simulation of a numerical example. 相似文献
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This paper proposes a framework to design an event‐triggered based robust control law for linear uncertain system. The robust control law is realized through both static and dynamic event‐triggering approach to reduce the computation and communication usages. Proposed control strategies ensure stability in the presence of bounded matched and mismatched system uncertainties. Derivation of event‐triggering rule with a non‐zero positive inter‐event time and corresponding stability criteria for uncertain event‐triggered system are the key contributions of this paper. The efficacy of proposed algorithm is carried out through a comparative study of simulation results. 相似文献
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This paper studies the robustness of model‐based event‐triggered control systems with respect to the differences between the plant and model matrices. Two types of event conditions, which involve an additional threshold variable and the norm of model states, are investigated, respectively. The tunable parameters in both the event conditions are designed according to the differences between the plant and model matrices. Also, the uncertainties in the plant matrices are considered, and the asymptotic stability can be guaranteed robustly. Moreover, the relationship between the tunable parameters and the model matrices is revealed. Namely, on the one hand, there exists a range of the tunable parameters such that the closed‐loop system is asymptotically stable with model matrices in any compact set. On the other hand, if the differences between the plant and model matrices are small enough, the tunable parameters can be set arbitrarily large. Finally, a numerical example is provided to illustrate the efficiency and feasibility of the obtained results. Copyright © 2016 John Wiley & Sons, Ltd. 相似文献
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This paper focuses on the event‐based distributed robust leaderless synchronization control for multiple Euler‐Lagrange systems with directed communication topology that contains a directed spanning tree. Update frequency of the system is reduced by taking advantages of the event‐triggered approach, which can help extend the service life of the controller. Robust control theory is employed to guarantee the synchronization stability of the networked Euler‐Lagrange systems when unmodeled dynamics occur. The cost on the distributed synchronization protocol design can be saved due to the relaxation of the requirement on relative velocity measurements. Furthermore, our results are more practical because unknown disturbance is taken into consideration. In addition, it can be rigorously analyzed that each agent can exclude the undesired Zeno behavior. Some simulation examples are provided in the end to demonstrate the effectiveness of the proposed event‐based distributed robust control algorithm. 相似文献
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In this paper, we consider the robust practical output regulation problem for a class of SISO uncertain linear minimum‐phase systems subject to external disturbances by an output‐based event‐triggered control law, where the reference inputs and the external disturbances are both generated by a so‐called exosystem with known dynamics. Our approach consists of two steps. First, on the basis of the internal model principle, we convert the problem into the robust practical stabilization problem of a well‐defined augmented system. Second, we design an output‐based event‐triggered mechanism and an output‐based event‐triggered control law to solve the stabilization problem, which in turn leads to the solvability of the original problem. What is more, we show that the event‐triggered mechanism prevents the Zeno behavior from happening. A numerical example is given to illustrate the design. Copyright © 2017 John Wiley & Sons, Ltd. 相似文献
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Bruno Boisseau John Jairo Martinez Thibaut Raharijaona Sylvain Durand Nicolas Marchand 《国际强度与非线性控制杂志
》2017,27(15):2492-2509
》2017,27(15):2492-2509
In this paper, a new event‐switched control method is presented for controlling discrete‐time linear systems subject to bounded disturbances. The main advantage of the proposed method is that the nominal performance of the controlled system with periodic control updates is kept in a framework that do not require to periodically update the control law. The feedback control loop can be opened as long a state‐dependent event condition is satisfied. This condition is obtained using set theory approaches. In particular, the concept of robustly positively invariant sets is used to calculate the nominal performance and the event condition. The simulation presented in this paper confirms the efficiency of the present approach. A reduction of the numerical complexity of the approach is also proposed. Copyright © 2016 John Wiley & Sons, Ltd. 相似文献
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We consider the output feedback event‐triggered control of an off‐grid voltage source inverter (VSI) with unknown inductance‐capacitance (L ? C) filter dynamics and connected load in the presence of an input disturbance acting at the inverter. Due to uncertain dynamics and unmodeled parameters in the L ? C filter connected to the VSI, we use an adaptive observer to reconstruct the system's states by measuring only the voltage at the output. The control mechanism is constructed based on an impulsive actor/critic framework that approximates the cost, the event‐triggered controller, and the worst case disturbance and generates the desired AC output with the least energy dissipation. We provide rigorous stability proofs and illustrate the applicability of our results through a simulation example. 相似文献
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This paper concerns the multi‐plant networked control system with external perturbations by applying the adaptive model‐based event‐triggered control strategy. Compared with existing works, we introduce multiple plants topology in order to smooth the information exchanges among different plants. Gained insight into the adaptive model features in the view of event‐triggered thought, the event‐triggered rules, determining when the control inputs update, are obtained using the Lyapunov technique to reduce the communication cost. By designing some adaptive updating laws combined with the concept of event‐triggered, the unknown parameters in uncertain multi‐plant networked control systems are real‐time online estimated and adjusted with respect to the relevant nominal systems at event‐triggered instants. To avoid Zeno phenomena, a lower bound of event‐triggered execution interval is discussed. Furthermore, given the external perturbations, gain stability theory is introduced to analyze the stability of multi‐plant networked control systems with bounded perturbations, and then the sufficient conditions related to the multiple plants topology structure are derived. Finally, a numerical simulation is provided to illustrate the effectiveness of our theoretic results. 相似文献
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In this paper, we study the event‐triggered global robust practical output regulation problem for a class of nonlinear systems in output feedback form with any relative degree. Our approach consists of the following three steps. First, we design an internal model and an observer to form the so‐called extended augmented system. Second, we convert the original problem into the event‐triggered global robust practical stabilization problem of the extended augmented system. Third, we design an output‐based event‐triggered control law and a Zeno‐free output‐based event‐triggered mechanism to solve the stabilization problem, which, in turn, leads to the solvability of the original problem. Finally, we apply our result to the controlled hyperchaotic Lorenz systems. 相似文献
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In order to attain excellent stability and maneuverability to ensure safety and ride‐comfort, the lateral velocity and yaw rate of a vehicle are expected to be controlled at any desired values simultaneously. A basic manipulation model of a vehicle with two degrees of freedom which requires two independent control inputs (front and rear steering angle) is constructed. In this model, we consider the mass and the moment of inertia of the vehicle are the uncertain parameters which are (possibly) fast‐varying. However, no further information, except that the uncertainties are bounded, is assumed. Furthermore, the bound is unknown. An adaptive robust control methodology based on the Udwadia and Kalaba approach which guarantees uniform boundedness and uniform ultimate boundedness is proposed to drive the system to follow the pre‐specified constraints approximately. The adaptive law is of leakage type which can adjust itself based on the tracking error. The numerical simulation results conducted by MATLAB demonstrate the ease and effectiveness of implementation. 相似文献
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This article designs an adaptive event‐triggered controller to solve the problem of global finite‐time stabilization for a class of uncertain nonlinear systems. By using the symbol function technique, the event‐triggered error is completely compensated, the adaptive technique and the back‐stepping method are simultaneously applied to the controller design, and the new way of designing controller is completed on the basis of fast finite‐time stability theory. Subsequently, taking Lyapunov stability theorem into account, the system stability is proved, and the system is demonstrated by contradiction to be non‐zeno. Finally, giving a simulation example to display the feasibility of this method. 相似文献
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为解决多指手模型复杂和模型参数不确定问题，针对一类不确定系统，给出了一种基于强化学习的控制方法，该方法将反馈控制与强化学习相结合；在多指手的控制中，反馈控制使关节和被抓持的物体运动跟踪期望轨迹，强化学习控制使关节和被抓持的物体运动逼近期望轨迹；仿真结果表明，该方法能克服多指手动力学模型的不确定性和黏性滑动摩擦力造成的影响，具有良好的鲁棒性，提高了控制性能。 相似文献
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本文针对一类在有限时间内执行重复任务的不确定非线性系统状态跟踪问题,提出一种自适应滑模迭代学习控制方法,在存在初始偏移的情况下也能实现对参考轨迹的完全收敛.本文通过设计全饱和自适应迭代学习更新律,估计参数和非参数不确定性以及未知期望控制输入,并将估计值限制在指定界内,避免估计值的正向累加.文章设计的自适应滑模迭代学习控制方法对系统模型的信息需求少,在对系统非参数不确定性的上界估计时不需要Lipschitz界函数已知.本文给出严格的理论分析,证明闭环系统所有信号的一致有界性以及跟踪误差的一致收敛性,并通过仿真验证所提控制方法的有效性. 相似文献
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This article addresses the problem of global adaptive finite‐time control for a class of p‐normal nonlinear systems via an event‐triggered strategy. A state feedback controller is first designed for the nominal system by adding a power integrator method. Then, by the skillful design of adaptive dynamic gain mechanism, a novel event‐triggered controller is constructed for uncertain nonlinear system without homogeneous growth condition. It is proved that the global finite‐time stabilization of p‐normal nonlinear systems is guaranteed and the Zeno phenomenon is excluded. Finally, two examples are presented to indicate the effectiveness of the proposed control scheme. 相似文献
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This paper considers optimal consensus control problem for unknown nonlinear multiagent systems (MASs) subjected to control constraints by utilizing event‐triggered adaptive dynamic programming (ETADP) technique. To deal with the control constraints, we introduce nonquadratic energy consumption functions into performance indices and formulate the Hamilton‐Jacobi‐Bellman (HJB) equations. Then, based on the Bellman's optimality principle, constrained optimal consensus control policies are designed from the HJB equations. In order to implement the ETADP algorithm, the critic networks and action networks are developed to approximate the value functions and consensus control policies respectively based on the measurable system data. Under the event‐triggered control framework, the weights of the critic networks and action networks are only updated at the triggering instants which are decided by the designed adaptive triggered conditions. The Lyapunov method is used to prove that the local neighbor consensus errors and the weight estimation errors of the critic networks and action networks are ultimately bounded. Finally, a numerical example is provided to show the effectiveness of the proposed ETADP method. 相似文献
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近年来,对于具有未知动态的非零和微分博弈系统的跟踪问题,已经得到了讨论,然而这些方法是时间触发的,在传输带宽和计算资源有限的环境下并不适用.针对具有未知动态的连续时间非线性非零和微分博弈系统,本文提出了一种基于积分强化学习的事件触发自适应动态规划方法.该策略受梯度下降法和经验重放技术的启发,利用历史和当前数据更新神经网络权值.该方法提高了神经网络权值的收敛速度,消除了一般文献设计中常用的初始容许控制假设.同时,该算法提出了一种易于在线检查的持续激励条件(通常称为PE),避免了传统的不容易检查的持续激励条件.基于李亚普诺夫理论,证明了跟踪误差和评价神经网络估计误差的一致最终有界性.最后,通过一个数值仿真实例验证了该方法的可行性. 相似文献
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In this article, the event‐triggered robust H∞ control is studied for a class of uncertain networked control systems (NCSs) subject to unknown state and variable disturbance. First, aiming to decrease the unnecessary transmissions of sampled data, an efficient adaptive event‐triggered scheme (AETS) is presented, which can reflect the full real‐time variation of addressed NCSs and help to reduce the conservativeness. Second, based on the triggered output signals and disturbance model, two effective observers are, respectively, exploited to estimate the state and disturbance, which are further utilized to reject the disturbance and design the controller. By using the overall closed‐loop system and selecting an augmented Lyapunov‐Krasovskii functional, two sufficient conditions on jointly designing the adaptive event scheme, observers, and controller are established via linear matrix inequality forms, which can guarantee the global exponential stability and ensure H∞ performance. Finally, some simulations and comparisons in a numerical example are provided to demonstrate the effectiveness of the derived results. 相似文献
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In this paper, a coordinated tracking problem for coupled nonholonomic mobile robots is considered. An event‐triggered control strategy is first proposed to guarantee that the robots can form a prespecified geometric pattern while the centroid of the geometric pattern can track a reference signal. The results are then extended to the self‐triggered case, where continuous monitoring of the agent states is not needed. The stability of the system is proved with the aid of the Lyapunov techniques. Finally, numerical examples are presented to verify the validity of the theoretical results. 相似文献