Department of Electronic and Electrical Engineering Department, Shiraz University of Technology, Shiraz, Iran.
ISA Trans. 2023 Jul;138:243-253. doi: 10.1016/j.isatra.2023.03.014. Epub 2023 Mar 15.
This article presents a disturbance observer (DO)-based event-triggered integral sliding mode tracking control (ISMTC) for continuous-time Takagi-Sugeno (T-S) fuzzy model (TSFM) subject to external disturbances. Merging the event-triggered control (ETC) with integral sliding mode control (ISMC) approach is led to reach the better accommodate the features of ISMC. To do this, two forms of fuzzy integral sliding surfaces (FISSs) are proposed. The first is the periodic-time-based FISS that is presented to provide the robustness of the tracking performance from the initial moment. The second is the event-triggered-based FISS which is proposed to obtain the fuzzy event-triggered ISMTC law. To more decrease the chattering effects and compensate the tracking performance against the disturbances, a fuzzy disturbance observer (FDO) is proposed to estimate the mismatched disturbances. Compared with the existing works, a more practical controller is proposed based on the asynchronous premise variables. Utilizing the common quadratic Lyapunov function, appropriate conditions are derived to verify that the tracking error is robust from the initial moment. Furthermore, by adopting a decaying triggering threshold, it is guaranteed that the system is Zeno-free during the process. To verify the effectiveness of the suggested event-triggered ISMTC, a practical system including continuous stirred tank reactor (CSTR) is simulated and the results are compared.
本文提出了一种基于干扰观测器（DO）的事件触发积分滑模跟踪控制（ISMTC）方法，用于具有外部干扰的连续时间 Takagi-Sugeno（T-S）模糊模型（TSFM）。将事件触发控制（ETC）与积分滑模控制（ISMC）方法相结合，可以更好地适应 ISMC 的特点。为此，提出了两种模糊积分滑模面（FISS）形式。第一种是基于周期时间的 FISS，旨在提供从初始时刻起的跟踪性能鲁棒性。第二种是基于事件触发的 FISS，用于获得模糊事件触发 ISMTC 律。为了进一步减少抖振效应并补偿对干扰的跟踪性能，提出了一种模糊干扰观测器（FDO）来估计不匹配的干扰。与现有工作相比，提出了一种基于异步前提变量的更实用的控制器。利用公共二次 Lyapunov 函数，推导出了适当的条件，以验证从初始时刻起跟踪误差的鲁棒性。此外，通过采用衰减触发阈值，可以保证系统在整个过程中无 Zeno 现象。为了验证所提出的事件触发 ISMTC 的有效性，对包括连续搅拌釜式反应器（CSTR）在内的实际系统进行了仿真，并进行了比较。
