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. 2019 Nov;94:93-107. doi: 10.1016/j.isatra.2019.04.018. Epub 2019 Apr 30.
This paper considers the problem of robust non-fragile observer-based dynamic event-triggered sliding mode control (SMC) for a class of discrete-time Lipschitz nonlinear networked control systems subject to sensor saturation and dead-zone input nonlinearity. First, an improved dynamic event-triggered scheme (DETS) in consideration of sensor saturation is proposed to reduce the number of data transmission. Next, a non-fragile observer is designed to estimate the system state, which facilitates the construction of the discrete sliding surface. By using a reformulated Lipschitz property, the error dynamics and sliding mode dynamics are modeled as a unified linear parameter varying (LPV) networked system with time-varying delays. Then, based on this model, sufficient conditions are established to guarantee the resulting closed-loop system to be asymptotically stable with a given disturbance attenuation level. Furthermore, an observer-based event-triggered SMC law is designed to drive the trajectories of the observer system onto a region near equilibrium point in a finite time in the presence of dead-zone input nonlinearity. Finally, two practical examples are employed to demonstrate the effectiveness of the proposed method.
本文考虑了一类具有传感器饱和和死区输入非线性的离散时间 Lipschitz 非线性网络控制系统的鲁棒非脆弱基于观测器的动态事件触发滑模控制（SMC）问题。首先，提出了一种考虑传感器饱和的改进动态事件触发方案（DETS），以减少数据传输的次数。其次，设计了一个非脆弱观测器来估计系统状态，这有利于离散滑动面的构建。通过重新制定 Lipschitz 性质，将误差动力学和滑模动力学建模为具有时变时滞的统一线性参数时变（LPV）网络系统。然后，基于此模型，建立了充分条件，以保证闭环系统在给定干扰衰减水平下渐近稳定。此外，设计了基于观测器的事件触发 SMC 律，以使在存在死区输入非线性的情况下，观测器系统的轨迹在有限时间内收敛到平衡点附近的区域。最后，通过两个实际例子验证了所提方法的有效性。
