Robust event-triggered output feedback controllers for nonlinear systems
Robust event-triggered output feedback controllers for nonlinear systems
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DOI：
10.1016/j.automatica.2016.09.044
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发表时间：
2017
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影响因子：
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通讯作者：
M. Abdelrahim;R. Postoyan;J. Daafouz;D. Nešić
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文献类型：
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作者：
M. Abdelrahim;R. Postoyan;J. Daafouz;D. Nešić
利用事件触发输出反馈律，研究了具有外源输入的非线性系统的鲁棒镇定问题。对象的动态特性受到外界干扰的影响，而输出测量和控制输入受到噪声的干扰。被控对象与控制器之间的通信由数字通道保证。反馈律是在连续时间内构造的，这意味着我们在这一步忽略了通信网络。然后，我们设计了采样规则以保持稳定性。研究了两种实施方案。我们首先考虑这样的情况，其中对象测量的采样和控制输入的采样由相同的规则产生，这导致同步传输。然后，我们研究了这样一种场景，即一方面使用两种不同的定律对测量数据进行采样，另一方面使用控制输入进行采样，从而导致异步传输。在这两种情况下，传输条件在于在每个采样时刻之后等待固定的时间量，然后检查依赖于状态的标准：当违反后者时，传输发生。如此一来，泽诺现象就被排除在外了。根据不同的假设条件，证明了所提出的混合控制器能够保证系统的输入-状态稳定性或L p稳定性。将所得结果作为特例应用于线性时不变系统，其假设形式为线性矩阵不等式。建议的策略将时间驱动的(因此是周期性的)抽样作为一种特殊情况，其结果是新的。通过对一个物理系统的仿真，验证了该方法的有效性。
We address the robust stabilization of nonlinear systems subject to exogenous inputs using event-triggered output feedback laws. The plant dynamics is affected by external disturbances, while the output measurement and the control input are corrupted by noises. The communication between the plant and the controller is ensured by a digital channel. The feedback law is constructed in continuous-time, meaning that we ignore the communication network at this step. We then design the sampling rule to preserve stability. Two implementation scenarios are investigated. We first consider the case where the sampling of the plant measurements and of the control input is generated by the same rule, which leads to synchronous transmissions. We then study the scenario where two different laws are used to sample the measurements on the one hand, and the control input on the other hand, thus leading to asynchronous transmissions. In both cases, the transmission conditions consist in waiting a fixed amount of time after each sampling instant and then in checking a state-dependent criterion: when the latter is violated, a transmission occurs. In that way, Zeno phenomenon is a fortiori excluded. The proposed hybrid controllers are shown to ensure either an input-to-state stability property or an L p stability property, depending on the assumptions. The results are applied to linear time-invariant systems as a particular case, for which the assumptions are formulated as linear matrix inequalities. The proposed strategy encompasses time-driven (and so periodic) sampling as a particular case, for which the results are new. The effectiveness of the approach is illustrated on simulations for a physical system.