任意相对阶下非线性切换系统的事件触发漏斗控制  

Event-triggered funnel control for switched nonlinear systems with arbitrary relative degree

作　　者：龙离军 王凤兰 LONG Li-jun;WANG Feng-lan(College of Information Science and Engineering,Northeastern University,Shenyang Liaoning 110819,China)

机构地区：[1]东北大学信息科学与工程学院,辽宁沈阳110819

出　　处：《控制理论与应用》2021年第11期1717-1726,共10页Control Theory & Applications

基　　金：国家自然科学基金项目(62173075,61773100);辽宁省“兴辽英才计划”项目(XLYC1907043);中央高校基本科研业务费项目(N2004015)资助。

摘　　要：针对一类具有任意相对阶且带有部分非输入到状态稳定逆动态的非线性切换系统,提出一种动态事件触发漏斗跟踪控制方案.首先,引入一个虚拟输出将任意相对阶的非线性切换系统转换为相对阶为一的非线性切换系统.其次,设计各子系统的事件触发漏斗控制器和切换的动态事件触发机制,解决候选事件触发漏斗控制器和子系统之间的异步切换问题,所提方案消除已有文献中为所有子系统设计共同控制器带来的保守性.在一类具有平均驻留时间切换信号的作用下,保证切换闭环系统的所有信号都是有界的,且跟踪误差一直在预设的漏斗内演化,并排除采样中的奇诺现象.最后,一个仿真例子验证方案的实用性和有效性.In this paper,a dynamic event-triggered funnel tracking control scheme is proposed for a class of switched nonlinear systems with arbitrary relative degree and partial non-input-to-state stability inverse dynamics.First of all,a virtual output is introduced to convert an arbitrary relative degree switched nonlinear system into a switched nonlinear systems with relative degree one.Second,by designing event-triggered funnel controller of individual subsystem and a switching dynamic event-triggering mechanism,the problem of asynchronous switching between candidate event-triggered funnel controllers and subsystems is addressed.The proposed scheme eliminates the conservativeness caused by the design of a common controller for all subsystems in the existing literature.It is ensured that under a class of switching signals with average dwell time,all signals in the switched closed-loop system are bounded,and the tracking error evolves within a prescribed funnel all the time.Also,Zeno phenomenon of sampling is avoided.Finally,one example is utilized to verify the applicability and effectiveness of the proposed control scheme.

关 键 词：非线性切换系统 漏斗控制 平均驻留时间 事件触发控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]