具有未建模动态的互联大系统事件触发自适应模糊控制

赵光同; 曹亮; 周琪; 李鸿一

doi:10.16383/j.aas.c200846

具有未建模动态的互联大系统事件触发自适应模糊控制

doi: 10.16383/j.aas.c200846 cstr: 32138.14.j.aas.c200846

赵光同^{1, 2,},
曹亮^{1, 2,},
周琪^{1, 2,},
李鸿一^{1, 2,}

1.
广东工业大学自动化学院广州 510006
2.
广东省智能决策与协同控制重点实验室广州 510006

基金项目: 国家自然科学基金(62033003, 61973091), 广东省特支计划本土创新创业团队项目(2019BT02X353)和中国博士后科学基金(2020M682614)资助

详细信息

作者简介:
赵光同：广东工业大学自动化学院硕士研究生. 主要研究方向为非线性系统与多智能体控制. E-mail: 2112004043@mail2.gdut.edu.cn

曹亮：广东工业大学自动化学院博士后. 主要研究方向为非线性系统智能控制和自适应模糊控制. E-mail: caoliang0928@163.com

周琪：广东工业大学自动化学院教授. 主要研究方向为复杂系统智能控制, 协同控制及其应用. E-mail: zhouqi2009@gmail.com

李鸿一：广东工业大学自动化学院教授. 主要研究方向为智能控制, 协同控制及其应用. 本文通信作者. E-mail: lihongyi2009@gmail.com

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出版历程
- 收稿日期: 2020-10-12
- 录用日期: 2020-12-28
- 网络出版日期: 2021-01-21
- 刊出日期: 2021-08-20

Event-triggered Adaptive Fuzzy Control for Interconnected Large-scale Systems With Unmodeled Dynamics

ZHAO Guang-Tong^{1, 2
,},
CAO Liang^{1, 2
,},
ZHOU Qi^{1, 2
,},
LI Hong-Yi^{1, 2
,}

1.
School of Automation, Guangdong University of Technology, Guangzhou 510006
2.
Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangzhou 510006

Funds: Supported by National Natural Science Foundation of China (62033003, 61973091), Local Innovative and Research Teams Project of Guangdong Special Support Program (2019BT02X353) and China Postdoctoral Science Foundation (2020M682614)

More Information

Author Bio:
ZHAO Guang-Tong　Master student at the School of Automation, Guangdong University of Technology. His research interest covers the control of nonlinear systems and multi-agent

CAO Liang　Postdoctor at the School of Automation, Guangdong University of Technology. His research interest covers intelligent control of nonlinear systems and adaptive fuzzy control

ZHOU Qi　Professor at the School of Automation, Guangdong University of Technology. Her research interest covers intelligent control of complex systems, cooperative control and its applications

LI Hong-Yi　Professor at the School of Automation, Guangdong University of Technology. His research interest covers intelligent control, cooperative control and its applications. Corresponding author of this paper

摘要

摘要:
针对一类具有未建模动态及执行器故障的非严格反馈非线性互联大系统, 提出一种基于事件触发机制的模糊分散自适应输出反馈控制算法. 首先, 通过设计模糊状态观测器估计系统中不可测的状态, 并引入李雅普诺夫函数约束未建模动态. 然后, 提出一种基于事件触发机制的自适应容错控制器补偿多个执行器故障产生的影响. 最后, 利用障碍李雅普诺夫函数实现对系统输出的约束, 并证明闭环系统中所有信号均是半全局一致最终有界的, 且设计的事件触发机制可以避免Zeno行为. 数值仿真结果验证所提出设计方案的可行性及有效性.
- 非线性互联大系统 /
- 未建模动态 /
- 执行器故障 /
- 事件触发
Abstract:
This paper develops an event-triggered fuzzy decentralized adaptive output feedback control method for a class of nonstrict-feedback interconnected large-scale nonlinear systems with unmodeled dynamics and actuator faults. Firstly, a fuzzy state observer is designed to estimate the unmeasurable states, and unmodeled dynamics will be addressed by using the Lyapunov function method. Furthermore, an event-triggered-based adaptive fault-tolerant controller is proposed to compensate the effect of multiple actuator faults. Finally, by using the barrier Lyapunov function, the contravention of the output constraint will be excluded. And all signals of the closed-loop system will be ensured to be semiglobally uniformly ultimately bounded and the Zeno behavior will be avoided. The numerical simulation results illustrate the effectiveness and availability of the proposed design method.
- Interconnected large-scale nonlinear systems /
- unmodeled dynamics /
- actuator faults /
- event-triggered

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图 1 子系统的输出$y_{1},y_2$和观测状态$\hat{x}_{1,1},\hat{x}_{2,1}$的响应曲线

Fig. 1 Trajectories of output $y_{1},y_2$ and observer $\hat{x}_{1,1},\hat{x}_{2,1}$

下载: 全尺寸图片幻灯片

图 2 子系统未建模动态$z_1,z_2$响应曲线

Fig. 2 Trajectories of unmodeled dynamics $z_1,z_2$

下载: 全尺寸图片幻灯片

图 3 滤波器输入及输出的响应曲线

Fig. 3 Trajectories of filter＇ s input and output

下载: 全尺寸图片幻灯片

图 4 子系统第一个执行器输出的响应曲线

Fig. 4 Trajectories of the first actuator＇ s output

下载: 全尺寸图片幻灯片

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