不确定非线性离散系统指令滤波事件触发控制  

Command filtered event-triggered control for uncertain nonlinear discrete-time systems

作　　者：徐雨梦 于金鹏[1,2] 林崇 于海生[1,2] XU Yu-meng;YU Jin-peng;LIN Chong;YU Hai-sheng(College of Automation,Qingdao University,Qingdao Shandong 266071,China;Shandong Key Laboratory of Industrial Control Technology,Qingdao Shandong 266071)

机构地区：[1]青岛大学自动化学院,山东青岛266071 [2]山东省工业控制重点实验室,山东青岛266071

出　　处：《控制理论与应用》2024年第5期839-846,共8页Control Theory & Applications

基　　金：国家重点研发计划项目(2017YFB1303503);国家自然科学基金项目(61973179);泰山学者工程专项经费项目(TSQN20161026);青岛重点研发专项(21–1–2–6–nsh)资助。

摘　　要：本文提出了考虑输入饱和的一类不确定非线性离散系统的事件触发指令滤波控制方法.采用指令滤波控制技术解决了传统反步法存在的“因果矛盾”问题,引入补偿机制提高了系统的控制精度;利用事件触发机制能够避免自适应律和控制律的频繁更新,降低了计算负担,提高了资源利用率;运用模糊逻辑系统逼近系统中未知的非线性函数;结合李雅普诺夫稳定性理论,验证了提出的控制方案能够保证跟踪误差收敛到原点小的邻域内以及闭环系统的所有信号有界.仿真结果表明,本文提出的控制方法具有较强的鲁棒性及较好的跟踪性能.In this paper,an event-triggered commandfiltered control method for a class of uncertain nonlinear discrete-time systems with input saturation is proposed.The commandfiltered control technology is used to solve the noncausal problem existing in the traditional backstepping method,and the compensation mechanism is used to improve the control accuracy of the system.Event-triggered mechanism can avoid frequent updates,including adaptive law and control law,which is conducive to reducing the computational burden and improving the utilization of resources.Unknown nonlinear functions are approximated by using fuzzy logic systems.The Lyapunov function is combined in the stability proof part.It is verified that the proposed control scheme can fully ensure that the tracking error converges to the neighborhood with small origin.And it can also ensure that the signal is bounded for closed-loop systems.The simulation results show that the proposed control method has strong robustness and good tracking performance.

关 键 词：指令滤波反步 事件触发机制 模糊逻辑系统 输入饱和 离散 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]