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

中文关键词  非线性切换系统  漏斗控制  平均驻留时间  事件触发控制

英文关键词  switched nonlinear systems  funnel control  average dwell time  event-triggered control

中文摘要

      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.

英文摘要

      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.