液压伺服系统非对称时变输出约束事件触发控制

Event-triggered control for hydraulic servo systems with asymmetric time-varying output constraint

中文关键词  未建模动态  非对称时变约束  鲁棒控制  径向基函数网络  事件触发控制  有限时间收敛

英文关键词  unmodeled dynamics  asymmetric time-varying constraint  robust control  radial basis function networks  event-triggered control  finite time convergence

中文摘要

      针对液压伺服系统具有未知非线性、未建模动态以及通信网络带宽受限等问题, 本文提出一种具有非对称 时变约束指令滤波自适应事件触发鲁棒控制方法. 与常规液压伺服系统输出位移静态受限相比较, 此控制方法在 液压伺服系统具有未建模动态的情况下, 可以保证液压伺服系统输出位移在预设的非对称时变约束范围内. 针对液 压伺服控制系统中的未知函数利用径向基函数神经网络自适应方法进行逼近补偿. 引入事件触发机制使得控制输 入不再持续更新, 从而充分利用有限的通信资源. 构造新型滤波误差补偿机制不仅可以在有限时间内收敛, 同时克 服了抖振问题. 通过李雅普诺夫方法证明了闭环系统的全局有界性. 仿真实例表明了控制方法的有效性.

英文摘要

      In response to issues such as unknown nonlinearities, unmodeled dynamics and limited communication network bandwidth in hydraulic servo systems, a robust control method with asymmetric time-varying constraint command filtering and adaptive event triggering is proposed. Compared to conventional static constraints on the output displacement of hydraulic servo systems, this control method ensures that the output displacement of the hydraulic servo system remains within preset asymmetric time-varying constraints, even in the presence of unmodeled dynamics. For unknown functions in the hydraulic servo control system, the radial basis function (RBF) neural network adaptive approach is utilized for approximation and compensation. The introduction of an event-triggering mechanism means that control inputs are no longer continuously updated, thereby making efficient use of limited communication resources. A novel filtering error compensation mechanism is constructed, which not only converges within a finite time, but also overcomes the issue of chattering. The global boundedness of the closed-loop system is proved by using the Lyapunov method. Simulation examples demonstrate the effectiveness of the control method.