Distributed event-based control of physically interconnected systems
Distributed event-based control of physically interconnected systems
复制标题
物理互连系统的基于事件的分布式控制
DOI：
10.1109/cdc.2013.6761060
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
J. Lunze
中科院分区：
文献类型：
--
作者：
C. Stöcker;J. Lunze
本文研究由物理上相互连接的子系统组成的系统的基于事件的控制。基于事件的控制器由一个控制输入生成器和一个事件生成器组成。设计这些组件的主要目的是：(i)通过基于事件的控制来近似连续状态反馈控制的行为，具有可调的精度；（ii）与文献中提出的分散的基于事件的控制方法相比，减少反馈通信。在基于事件的控制回路i中，事件的触发是由子系统i的耦合输入引起的。所提出的基于事件的控制方法通过使用近似模型来减少这些互连的影响，该模型估计子系统i的邻居的行为，用于控制输入的生成。事件是基于两个不同的条件触发的：第一个导致当前子系统状态从事件生成器i本地传输到控制输入生成器i。第二类事件是在需要重置近似模型的状态时触发的。这带来了一种新的基于事件的控制，其中事件生成器i从子系统i的邻居请求当前状态信息。基于事件的控制器以分布式方式工作，因为它既使用本地状态信息，也使用来自邻居系统的信息。结果表明，连续控制系统与基于事件的控制系统的行为偏差仅取决于第一触发条件的参数，而最小事件间时间可以通过第二触发条件的参数来调节。
This paper investigates event-based control of systems that are composed of physically interconnected subsystems. The event-based controller consists of a control input generator and an event generator. The main aim for the design of these components is (i) to approximate the behavior of a continuous state-feedback control by the event-based control with adjustable accuracy and (ii) to reduce the feedback communication compared to a decentralized event-based control approach proposed in literature. In the event-based control loop i, the triggering of events is caused by the coupling input to subsystem i. The proposed event-based control approach diminishes the influence of these interconnections by using an approximate model, which estimates the behavior of the neighbors of subsystem i, for the control input generation. Events are triggered based on two different conditions: The first one causes a transmission of the current subsystem state locally from event generator i to control input generator i. The second type of event is triggered whenever the state of the approximate model needs to be reset. This brings up a new kind of event-based control where the event generator i requests current state information from the neighbors of subsystem i. The event-based controller works in a distributed manner, because it uses both local state information as well as information from neighbor systems. It is shown that the deviation between the behavior of the continuous and the event-based control system depends upon the parameter of the first triggering condition only, whereas the minimum inter-event times can be adjusted by means of the parameter of the second triggering condition.