Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian 116023, China; State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology, Dalian 116023, China.
State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology, Dalian 116023, China.
ISA Trans. 2018 Aug;79:13-26. doi: 10.1016/j.isatra.2018.05.004. Epub 2018 May 21.
This paper investigates the problem of H observer-based event-triggered sliding mode control (SMC) for a class of uncertain discrete-time Lipschitz nonlinear networked systems with quantizations occurring in both input and output channels. The event-triggered strategy is used to save the limited network bandwidth. Then, based on the zero-order-hold (ZOH) measurement, a state observer is designed to reconstruct the system state, which facilitates the design of the discrete-time sliding surface. Considering the effects of quantizations, networked-induced constraints and event-triggered scheme, the nonlinear state error dynamics and sliding mode dynamics are converted into a unified linear parameter varying (LPV) time-delay system with the aid of a reformulated Lipschitz property. By using the Lyapunov-Krasovskii functional and free weighting matrix, a new sufficient condition is derived to guarantee the robust asymptotic stability of the resulting closed-loop system with prescribed H performance. And then the observer gain, event-triggering parameter and sliding mode parameter are co-designed. Furthermore, a novel SMC law is synthesized to force the trajectories of the observer system onto a pre-specified sliding mode region in a finite time. Finally, a single-link flexible joint robot example is utilized to demonstrate the effectiveness of the proposed method.
本文研究了一类具有输入和输出通道量化的不确定离散时间 Lipschitz 非线性网络系统的基于 H 观测器的事件触发滑模控制（SMC）问题。事件触发策略用于节省有限的网络带宽。然后，基于零阶保持（ZOH）测量，设计了一个状态观测器来重构系统状态，这有利于离散时间滑动面的设计。考虑量化、网络诱导约束和事件触发方案的影响，通过重新表述 Lipschitz 性质，将非线性状态误差动力学和滑模动力学转换为一个统一的线性参数时变（LPV）时滞系统。利用 Lyapunov-Krasovskii 泛函和自由加权矩阵，导出了一个新的充分条件，以保证具有规定 H 性能的闭环系统的鲁棒渐近稳定性。然后，对观测器增益、事件触发参数和滑模参数进行了协同设计。此外，综合了一种新的 SMC 律，以使观测器系统的轨迹在有限时间内进入预定的滑模区域。最后，利用单连杆柔性关节机器人实例验证了所提方法的有效性。
