具有执行器饱和的分段仿射系统基于事件的<italic style="font-style: italic">H</italic><sub>∞</sub>控制

蒋永豪; 吴炜; 楼旭阳; 江正仙; 崔宝同

doi:10.1631/FITEE.1900601

Your Location：

Home >

Browse articles >

具有执行器饱和的分段仿射系统基于事件的H_∞控制

常规文章 | Updated：2022-05-19

- 具有执行器饱和的分段仿射系统基于事件的H_∞控制
- Event-based H_∞ control for piecewise-affine systems subject to actuator saturation
- 信息与电子工程前沿（英文） 2021年22卷第5期页码：720-731
- Affiliations：
  
  MOE Key Laboratory of Advanced Process Control for Light Industry, Jiangnan University, Wuxi 214122, China
- Author bio：
  
  [ "Yonghao JIANG, E-mail: y.h.jiang@foxmail.com" ]
  Wei WU, E-mail: weiwu@jiangnan.edu.cn
  Xuyang LOU, E-mail: Louxy@jiangnan.edu.cn
- Funds：
  
  Project supported by the National Natural Science Foundation of China (No. 61807016), the China Postdoctoral Science Foundation (No. 2018M642160), the Jiangsu Province Postdoctoral Fund of China (No. 1701095B), and the Natural Science Foundation of Jiangsu Province, China (No. BK20201340)
- DOI：10.1631/FITEE.1900601
  中图分类号： TP273
- 收稿：2019-11-06，
  
  修回：2020-11-16，
  
  网络出版：2021-02-08，
  
  纸质出版：2021-05
- Accepted：
Scan QR Code
蒋永豪, 吴炜, 楼旭阳, 等. 具有执行器饱和的分段仿射系统基于事件的H_∞控制[J]. 信息与电子工程前沿（英文）, 2021,22(5):720-731.

Yonghao JIANG, Wei WU, Xuyang LOU, et al. Event-based H_∞ control for piecewise-affine systems subject to actuator saturation[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(5): 720-731.
蒋永豪, 吴炜, 楼旭阳, 等. 具有执行器饱和的分段仿射系统基于事件的H_∞控制[J]. 信息与电子工程前沿（英文）, 2021,22(5):720-731. DOI： 10.1631/FITEE.1900601.

Yonghao JIANG, Wei WU, Xuyang LOU, et al. Event-based H_∞ control for piecewise-affine systems subject to actuator saturation[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(5): 720-731. DOI： 10.1631/FITEE.1900601.

摘要

针对具有执行器饱和的离散时间分段仿射系统，提出一种事件触发控制器设计方法。考虑饱和信息，提出一种新的事件触发策略，该策略能节省通信资源。基于分段李雅普诺夫函数，推导出基于线性矩阵不等式的可行性条件。该条件不仅能保证闭环系统在一定

∞

性能指标下的稳定性，还能减少信号传输数量。最后，利用仿真实例验证该方法的有效性。

Abstract

We deal with event-triggered

∞

controller design for discrete-time piecewise-affine systems subject to actuator saturation. By considering saturation information

a novel event-triggered strategy is proposed to conserve communication resources. A linear matrix inequality based condition is derived based on a piecewise Lyapunov function. This condition guarantees the stability of the closed-loop system with a certain

∞

performance index and reduces the number of transmitted signals. Numerical examples are given to show the efficiency of our method.

关键词

Keywords

references

KE Åarzén . . A simple event-based PID controller . . IFAC Proc Vol , , 1999 . . 32 ( ( 2 ): ): 8687 - - 8692 . . DOI: 10.1016/S1474-6670(17)57482-0 http://doi.org/10.1016/S1474-6670(17)57482-0 . .

E Aranda-Escolástico , , , M Abdelrahim , , , M Guinaldo , , , 等 . . Design of periodic event-triggered control for polynomial systems: a delay system approach . . IFAC-PapersOnLine , , 2017 . . 50 ( ( 1 ): ): 7887 - - 7892 . . DOI: 10.1016/j.ifacol.2017.08.748 http://doi.org/10.1016/j.ifacol.2017.08.748 . .

KJ Åström , , , B Bernhardsson . . Comparison of periodic and event based sampling for first-order stochastic systems . . IFAC Proc Vol , , 1999 . . 32 ( ( 2 ): ): 5006 - - 5011 . . DOI: 10.1016/s1474-6670(17)56852-4 http://doi.org/10.1016/s1474-6670(17)56852-4 . .

S Boyd , , , L Vandenberghe . . Convex Optimization , , : : Cambridge, UK ambridge University Press , , 2004 . . .

CL Chen , , , G Feng , , , XP Guan . . H ∞ discrete time fuzzy control with application to chaos control based on piecewise Lyapunov functions . . IFAC Proc Vol , , 2005 . . 38 ( ( 1 ): ): 449 - - 454 . . DOI: 10.3182/20050703-6-cz-1902.01153 http://doi.org/10.3182/20050703-6-cz-1902.01153 . .

YG Chen , , , Q Zhou , , , SM Fei . . Robust stabilization and l 2 -gain control of uncertain discrete-time constrained piecewise-affine systems . . Nonl Dynam , , 2014 . . 75 ( ( 1-2 ): ): 127 - - 140 . . DOI: 10.1007/s11071-013-1054-x http://doi.org/10.1007/s11071-013-1054-x . .

A Eqtami , , , DV Dimarogonas , , , KJ Kyriakopoulos . . Event-triggered control for discrete-time systems . . Proc American Control Conf , , 2010 . . p.4719 - - 4724 . . DOI: 10.1109/acc.2010.5531089 http://doi.org/10.1109/acc.2010.5531089 . .

PS Esfahani , , , JK Pieper . . H ∞ model predictive control for constrained discrete-time piecewise affine systems . . Int J Rob Nonl Contr , , 2017 . . 28 ( ( 6 ): ): 1973 - - 1995 . . DOI: 10.1002/rnc.3995 http://doi.org/10.1002/rnc.3995 . .

Y Gao , , , Z Liu , , , H Chen . . Robust H ∞ control for constrained discrete-time piecewise affine systems with time-varying parametric uncertainties . . IET Contr Theory Appl , , 2009 . . 3 ( ( 8 ): ): 1132 - - 1144 . . DOI: 10.1049/iet-cta.2008.0182 http://doi.org/10.1049/iet-cta.2008.0182 . .

M Grant , , , S Boyd . . CVX: Matlab Software for Disciplined Convex Programming . . Version 2.2. , , 2014 . . http://cvxr.com/cvx http://cvxr.com/cvx , , . .

WPMH Heemels , , , B de Schutter , , , A Bemporad . . Equivalence of hybrid dynamical models . . Automatica , , 2001 . . 37 ( ( 7 ): ): 1085 - - 1091 . . DOI: 10.1016/s0005-1098(01)00059-0 http://doi.org/10.1016/s0005-1098(01)00059-0 . .

WPMH Heemels , , , MCF Donkers , , , AR Teel . . Periodic event-triggered control for linear systems . . IEEE Trans Autom Contr , , 2013 . . 58 ( ( 4 ): ): 847 - - 861 . . DOI: 10.1109/tac.2012.2220443 http://doi.org/10.1109/tac.2012.2220443 . .

JP Hespanha , , , P Naghshtabrizi , , , YG Xu . . A survey of recent results in networked control systems . . Proc IEEE , , 2007 . . 95 ( ( 1 ): ): 138 - - 162 . . DOI: 10.1109/jproc.2006.887288 http://doi.org/10.1109/jproc.2006.887288 . .

TS Hu , , , ZL Lin , , , BM Chen . . Analysis and design for discrete-time linear systems subject to actuator saturation . . Syst Contr Lett , , 2002 . . 45 ( ( 2 ): ): 97 - - 112 . . DOI: 10.1016/s0167-6911(01)00168-2 http://doi.org/10.1016/s0167-6911(01)00168-2 . .

T Kailath . . Linear Systems , , : : USA Prentice-Hall, Englewood Cliffs , , 1980 . . .

S LeBel , , , L Rodrigues . . PWL and PWA H ∞ controller synthesis for uncertain PWA slab systems: LMI approach . . Int J Contr , , 2009 . . 82 ( ( 3 ): ): 482 - - 492 . . DOI: 10.1080/00207170802144313 http://doi.org/10.1080/00207170802144313 . .

Y Lei , , , YW Wang , , , ZH Guan , , , 等 . . Event-triggered adaptive output regulation for a class of nonlinear systems with unknown control direction . . IEEE Trans Syst Man Cybern Syst, in press , , 2018 . . DOI: 10.1109/tsmc.2018.2852700 http://doi.org/10.1109/tsmc.2018.2852700 . .

HC Li , , , ZQ Zuo , , , YJ Wang . . Dynamic output feedback control for systems subject to actuator saturation via event-triggered scheme . . Asian J Contr , , 2018 . . 20 ( ( 1 ): ): 207 - - 215 . . DOI: 10.1002/asjc.1662 http://doi.org/10.1002/asjc.1662 . .

JL Liu , , , TT Yin , , , D Yue , , , 等 . . Event-based secure leader-following consensus control for multiagent systems with multiple cyber attacks . . IEEE Trans Cybern, in press. , , 2020a . . DOI: 10.1109/tcyb.2020.2970556 http://doi.org/10.1109/tcyb.2020.2970556 . .

JL Liu , , , M Yang , , , XP Xie , , , 等 . . Finite-time H ∞ filtering for state-dependent uncertain systems with event-triggered mechanism and multiple attacks . . IEEE Trans Circ Syst Ⅰ , , 2020b . . 67 ( ( 3 ): ): 1021 - - 1034 . . DOI: 10.1109/tcsi.2019.2949014 http://doi.org/10.1109/tcsi.2019.2949014 . .

JL Liu , , , W Suo , , , LJ Zha , , , 等 . . Security distributed state estimation for nonlinear networked systems against DoS attacks . . Int J Rob Nonl Contr , , 2020c . . 30 ( ( 3 ): ): 1156 - - 1180 . . DOI: 10.1002/rnc.4815 http://doi.org/10.1002/rnc.4815 . .

Y Liu , , , GH Yang , , , XJ Li . . Event-triggered fault detection observer design for affine fuzzy systems . . Neurocomputing , , 2017 . . 267 564 - - 571 . . DOI: 10.1016/j.neucom.2017.06.033 http://doi.org/10.1016/j.neucom.2017.06.033 . .

YF Ma , , , W Wu , , , BT Cui . . Event-triggered feedback control for discrete-time piecewise-affine systems . . Int J Syst Sci , , 2018 . . 49 ( ( 16 ): ): 3377 - - 3389 . . DOI: 10.1080/00207721.2018.1541262 http://doi.org/10.1080/00207721.2018.1541262 . .

YF Ma , , , W Wu , , , D Görges , , , 等 . . Event-triggered feedback control for discrete-time piecewise affine systems subject to input saturation . . Nonl Dynam , , 2019 . . 95 ( ( 3 ): ): 2353 - - 2365 . . DOI: 10.1007/s11071-018-4696-x http://doi.org/10.1007/s11071-018-4696-x . .

R Postoyan , , , P Tabuada , , , D Nešić , , , 等 . . A framework for the event-triggered stabilization of nonlinear systems . . IEEE Trans Autom Contr , , 2015 . . 60 ( ( 4 ): ): 982 - - 996 . . DOI: 10.1109/tac.2014.2363603 http://doi.org/10.1109/tac.2014.2363603 . .

JB Qiu , , , G Feng , , , HJ Gao . . Approaches to robust H ∞ static output feedback control of discrete-time piecewise-affine systems with norm-bounded uncertainties . . Int J Rob Nonl Contr , , 2011 . . 21 ( ( 7 ): ): 790 - - 814 . . DOI: 10.1002/rnc.1627 http://doi.org/10.1002/rnc.1627 . .

JB Qiu , , , YL Wei , , , LG Wu . . A novel approach to reliable control of piecewise affine systems with actuator faults . . IEEE Trans Circ Syst Ⅱ , , 2017 . . 64 ( ( 8 ): ): 957 - - 961 . . DOI: 10.1109/tcsii.2016.2629663 http://doi.org/10.1109/tcsii.2016.2629663 . .

JB Qiu , , , YL Wei , , , HR Karimi , , , 等 . . Reliable control of discrete-time piecewise-affine time-delay systems via output feedback . . IEEE Trans Reliab , , 2018 . . 67 ( ( 1 ): ): 79 - - 91 . . DOI: 10.1109/tr.2017.2749242 http://doi.org/10.1109/tr.2017.2749242 . .

L Rodrigues , , , EK Boukas . . Piecewise-linear H ∞ controller synthesis with applications to inventory control of switched production systems . . Automatica , , 2006 . . 42 ( ( 8 ): ): 1245 - - 1254 . . DOI: 10.1016/j.automatica.2006.04.004 http://doi.org/10.1016/j.automatica.2006.04.004 . .

L Rodrigues , , , S Boyd . . Piecewise-affine state feedback for piecewise-affine slab systems using convex optimization . . Syst Contr Lett , , 2005 . . 54 ( ( 9 ): ): 835 - - 853 . . DOI: 10.1016/j.sysconle.2005.01.002 http://doi.org/10.1016/j.sysconle.2005.01.002 . .

T Saito , , , K Jinąŕo , , , H Torikai . . Chaotic artificial neural system and its control . . Int J Electron , , 1995 . . 79 ( ( 6 ): ): 797 - - 806 . . DOI: 10.1080/00207219508926313 http://doi.org/10.1080/00207219508926313 . .

E Sontag . . Nonlinear regulation: the piecewise linear approach . . IEEE Trans Autom Contr , , 1981 . . 26 ( ( 2 ): ): 346 - - 358 . . DOI: 10.1109/tac.1981.1102596 http://doi.org/10.1109/tac.1981.1102596 . .

JF Sturm . . Using SeDuMi 1.02, a Matlab toolbox for optimization over symmetric cones. . . Optim Method Softw , , 1999 . . 11 ( ( 1-4 ): ): 625 - - 653 . . DOI: 10.1080/10556789908805766 http://doi.org/10.1080/10556789908805766 . .

P Tabuada . . Event-triggered real-time scheduling of stabilizing control tasks . . IEEE Trans Autom Contr , , 2007 . . 52 ( ( 9 ): ): 1680 - - 1685 . . DOI: 10.1109/tac.2007.904277 http://doi.org/10.1109/tac.2007.904277 . .

S Tarbouriech , , , G Garcia , , , JMGJr da Silva , , , 等 . . Stability and Stabilization of Linear Systems with Saturating Actuators . . Springer, London, UK , , 2011 . . DOI: 10.1007/978-0-85729-941-3 http://doi.org/10.1007/978-0-85729-941-3 . .

KC Toh , , , MJ Todd , , , RH Tütüncü . . SDPT3-a Matlab software package for semidefinite programming. Version 1.3. . . Optim Method Softw , , 1999 . . 11 ( ( 1-4 ): ): 545 - - 581 . . DOI: 10.1080/10556789908805762 http://doi.org/10.1080/10556789908805762 . .

W Wu , , , S Reimann , , , S Liu . . Event-triggered control for linear systems subject to actuator saturation . . IFAC Proc Vol , , 2014 . . 47 ( ( 3 ): ): 9492 - - 9497 . . DOI: 10.3182/20140824-6-za-1003.00255 http://doi.org/10.3182/20140824-6-za-1003.00255 . .

W Wu , , , S Reimann , , , D Görges , , , 等 . . Suboptimal event-triggered control for time-delayed linear systems . . IEEE Trans Autom Contr , , 2015 . . 60 ( ( 5 ): ): 1386 - - 1391 . . DOI: 10.1109/tac.2014.2347214 http://doi.org/10.1109/tac.2014.2347214 . .

W Wu , , , S Reimann , , , D Görges , , , 等 . . Event-triggered control for discrete-time linear systems subject to bounded disturbance . . Int J Rob Nonl Contr , , 2016 . . 26 ( ( 9 ): ): 1902 - - 1918 . . DOI: 10.1002/rnc.3388 http://doi.org/10.1002/rnc.3388 . .

LX Zhang , , , ZP Ning , , , WX Zhang . . Observer-based control for piecewise-affine systems with both input and output quantization . . IEEE Trans Autom Contr , , 2017 . . 62 ( ( 11 ): ): 5858 - - 5865 . . DOI: 10.1109/tac.2016.2641585 http://doi.org/10.1109/tac.2016.2641585 . .

ZQ Zuo , , , QS Li , , , HC Li , , , 等 . . Co-design of event-triggered control for discrete-time systems with actuator saturation . . Proc 12 th World Congress on Intelligent Control and Automation , , 2016 . . p.170 - - 175 . . DOI: 10.1109/wcica.2016.7578438 http://doi.org/10.1109/wcica.2016.7578438 . .

浏览量

Downloads

CSCD

文章被引用时，请邮件提醒。

Submit

工具集

关联资源

Event-triggered adaptive tracking control of a class of nonlinear systems with asymmetric time-varying output constraints

Observer-based control for fractional-order singular systems with order α(0<α<1) and input delay

Design and experimental validation of event-triggered multi-vehicle cooperation in conflicting scenarios

Event-triggered dynamic output-feedback control for a class of Lipschitz nonlinear systems

Event-triggered adaptive finite-time control for nonlinear systems under asymmetric time-varying state constraints

具有执行器饱和的分段仿射系统基于事件的H∞控制

Event-based H∞ control for piecewise-affine systems subject to actuator saturation

DOI：10.1631/FITEE.1900601

摘要

Abstract

关键词

Keywords

references

具有执行器饱和的分段仿射系统基于事件的H_∞控制

Event-based H_∞ control for piecewise-affine systems subject to actuator saturation