T-S模糊系统的自触发有限时间H∞控制  

Self-triggering Finite Time H∞Control for T-S Fuzzy Systems

作　　者：刘晓迪 LIU Xiaodi(Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education),Jiangnan University,Wuxi 214122,China)

机构地区：[1]江南大学轻工过程与先进控制教育部重点实验室,江苏无锡214122

出　　处：《计算机测量与控制》2024年第4期120-128,共9页Computer Measurement &Control

摘　　要：为克服事件触发控制对硬件设备的依赖以及控制策略频繁更新的局限,针对一类不确定Takagi-Sugeno(T-S)模糊系统的有限时间H∞控制问题,引入自触发机制,提出一种基于此机制下只与触发时刻状态有关的模糊控制器设计方法;基于自触发机制并结合有限时间控制的思想,通过设计触发间隔函数、推导并求解线性矩阵不等式(LMI),使得系统在保障稳定性的前提下,系统运动轨迹不会超过一定的界限,并达到所期望H∞性能水平;同时相较于事件触发机制,自触发机制位于系统内部,无需额外硬件设备接收触发信号且只需利用当前的触发状态信息来预测下一触发时刻,在一定程度上进一步降低系统资源成本;此外,利用李亚普诺夫函数对系统稳定性进行了严格分析,并提供一个确保能够防止芝诺现象发生的证明;最后,通过数值仿真、单连杆刚性机器人系统实例仿真两个实验说明所提方法的有效性。In order to overcome the dependence of event-triggering control on hardware devices and the limitation on the frequent updates of control strategies,aimed at the finite time H∞control problem of uncertain Takagi-Sugeno(T-S)fuzzy systems,a self-triggering mechanism is introduced to propose a fuzzy controller design method based on this mechanism.Based on the self-triggering mechanism and the idea of finite-time stability,by designing the triggering interval function,deducing and solving the linear matrix inequality(LMI),the system trajectory will not exceed the certain limit and reach the desired H∞performance under the premise of ensuring stability.At the same time,compared with the event trigger mechanism,the self-trigger mechanism is located in the system,without the additional hardware devices to receive the trigger signals,and only using the current trigger state information to predict the next trigger moment,it further reduces the system resource cost to a certain extent.In addition,the Lyapunov function is adopted to strictly analyze the stability of the system,and provide a proof to prevent the Zeno phenomenon.Finally,the numerical simulation and actual simulation of a single-link rigid robot system are verified the effectiveness of the proposed method.

关 键 词：有限时间有界 自触发控制 鲁棒H∞控制 T-S模糊系统 模糊推理 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]