具有执行器饱和的切换2-D系统事件触发控制

针对具有执行器饱和的切换2-D连续离散系统，提出了一种基于多Lyapunov函数法的事件触发控制方案。为了减少通信资源浪费和执行器的损耗，提出了一种事件触发机制。该触发机制考虑了执行器饱和特性，只有当执行器未饱和，且满足事件触发条件时，控制器才会更新。利用凸组合技术和多Lyapunov函数法，提出了一种状态依赖的切换信号与状态反馈控制器的设计方法，并对闭环系统的指数稳定性进行了分析，利用线性矩阵不等式技术导出了控制器增益矩阵存在的充分条件。利用Darboux方程的仿真算例验证了所提出的事件触发控制方案的有效性，仿真结果表明了在所设计的控制方案下，闭环系统的状态是指数收敛的，同时还能减少通信资源的浪费。

Event Triggered Control Of Switched 2-D Systems With Actuator Saturation

An event triggered control scheme for switched 2-D continuous-discrete systems with actuator saturation is proposed based on the multi-Lyapunov function method. In order to reduce the waste of communication resources and the loss of actuators, an event triggering mechanism is proposed. The characteristic of the actuator saturation is considered in the event triggering mechanism. The controller is updated only when the actuator is not saturated and the event triggering condition is satisfied. By using the convex combination technique and the multi-Lyapunov function method, a state dependent switching signal and a state feedback controller are proposed, and the exponential stability of the closed-loop system is analyzed. Then sufficient conditions for the existence of controller gains are derived by using the linear matrix inequality technology. The effectiveness of the proposed event-triggered control scheme is verified by a simulation example about the Darboux equation and simulation results show that the proposed control method can make the state of the closed-loop system exponentially converge to zero and the waste of communication resource can be reduced at the same time.