National Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing 400067, China.
School of Automation, Chongqing University, Chongqing, 400044, China.
ISA Trans. 2023 May;136:75-83. doi: 10.1016/j.isatra.2022.10.016. Epub 2022 Oct 26.
In this paper, event-triggered output feedback control of a class of high-order nonlinear strict-feedback systems with parametric uncertainties is investigated, in which both of the controller and the parameter estimator are triggered based on a set of event-triggered conditions. Firstly a new one-step control design framework is proposed for the strict-feedback nonlinear systems, therefore both expressions of the controller and the parameter estimate laws are much more simple than those of the recursive design approaches such as backstepping control. Secondly observers are designed to estimate the unknown states, and a set of event-triggering mechanism is proposed for the sensors such that the states are transmitted through the communication network only at the triggering points. The estimated parameter is obtained without real-time integration due to the event-triggered estimator. It is proved that our proposed control law guarantees the closed-loop system is globally bounded and the system output converges to zero asymptotically. It is also proved that the Zeno behavior is excluded. Simulation results demonstrate the effectiveness of the proposed control scheme.
本文研究了一类具有参数不确定性的高阶非线性严格反馈系统的事件触发输出反馈控制问题，其中控制器和参数估计器均基于一组事件触发条件触发。首先，针对严格反馈非线性系统提出了一种新的单步控制设计框架，因此控制器和参数估计律的表达式比回溯控制等递归设计方法简单得多。其次，设计了观测器来估计未知状态，并为传感器提出了一组事件触发机制，使得状态仅在触发点通过通信网络传输。由于事件触发估计器，无需实时积分即可获得估计参数。证明了所提出的控制律保证了闭环系统全局有界，系统输出渐近收敛到零。还证明了排除了 Zeno 行为。仿真结果验证了所提出的控制方案的有效性。
