Output-Based Event-Triggered Control With Guaranteed L∞-Gain and Improved and Decentralized Event-Triggering
Output-Based Event-Triggered Control With Guaranteed L∞-Gain and Improved and Decentralized Event-Triggering
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DOI：
10.1109/tac.2011.2174696
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发表时间：
2012-06-01
影响因子：
6.8
通讯作者：
Heemels, W. P. M. H.
中科院分区：
文献类型：
--
作者：
Donkers, M. C. F.;Heemels, W. P. M. H.
目前大多数事件触发控制器都是基于静态状态反馈控制器的。由于在许多控制应用中，完整的状态测量反馈是不可用的，这是本文的目的，提出事件触发的动态输出为基础的控制器。事实上，控制器是基于输出反馈，而不是状态反馈不允许直接扩展现有的事件触发机制，如果两个后续事件之间的最小时间必须得到保证。此外，由于传感器和执行器节点可以在物理上分布，集中式事件触发机制往往是禁止的，因此，我们将提出一个分散的事件触发机制。当节点中的输出的当前值与其先前传输的值之间的差与当前值和附加阈值相比变得“大”时，该事件触发机制调用节点中的输出的传输。对于这样的事件触发机制，我们将研究闭环稳定性和L-无穷性能，并提供每个节点生成的两个后续事件之间的最小时间的界限，即所谓的节点事件间时间。这使我们能够在一方面的闭环性能和另一方面的通信负载之间，甚至在各个节点的通信负载之间进行权衡。此外，我们将使用脉冲模型对事件触发控制系统进行建模，该模型真实地描述了事件触发控制系统的行为。其结果是，我们将能够保证稳定性和性能的事件触发控制器更大的最小事件间时间比现有的文献中的结果。我们用三个数值例子来说明发展的理论。
Most event-triggered controllers available nowadays are based on static state-feedback controllers. As in many control applications full state measurements are not available for feedback, it is the objective of this paper to propose event-triggered dynamical output-based controllers. The fact that the controller is based on output feedback instead of state feedback does not allow for straightforward extensions of existing event-triggering mechanisms if a minimum time between two subsequent events has to be guaranteed. Furthermore, since sensor and actuator nodes can be physically distributed, centralized event-triggering mechanisms are often prohibitive and, therefore, we will propose a decentralized event-triggering mechanism. This event-triggering mechanism invokes transmission of the outputs in a node when the difference between the current values of the outputs in the node and their previously transmitted values becomes "large" compared to the current values and an additional threshold. For such event-triggering mechanisms, we will study closed-loop stability and L-infinity-performance and provide bounds on the minimum time between two subsequent events generated by each node, the so-called inter-event time of a node. This enables us to make tradeoffs between closed-loop performance on the one hand and communication load on the other hand, or even between the communication load of individual nodes. In addition, we will model the event-triggered control system using an impulsive model, which truly describes the behavior of the event-triggered control system. As a result, we will be able to guarantee stability and performance for event-triggered controllers with larger minimum inter-event times than the existing results in the literature. We illustrate the developed theory using three numerical examples.