基于事件触发的NCS鲁棒完整性设计

Design of NCS with robust integrity based on event-triggered scheme

针对具有时变时延的网络化控制系统,在离散事件触发通讯机制下,研究执行器更一般故障情形下的鲁棒完整性设计问题.考虑参数不确定性的影响,建立事件触发的闭环故障NCS模型,基于Lyapunov稳定性理论及改进的Jensen不等式等,推证出使系统具有鲁棒完整性的时滞/事件依赖的少保守性充分条件,并给出NCS容错控制器与通讯协同设计的方法.通过仿真算例验证文中方法可在确保故障系统稳定的前提下有效地节约网络通讯资源.

For a networked control system with time-varying delay and event-triggered communication scheme,the problem of robust integrity design was investigated when more general failures occured in the actuator.Taking the influence of the parameter with uncertainties,a closed-loop failure model of the networked control system with event-triggered was established.Based on Lyapunov stability theory and adopting improved Jensen inequality,the sufficient condition of less conservation was derived for the system with robust integrity and time-delay/event dependence.In addition,a method of co-design was given for coordinating the communication into the fault tolerant controller.It was verified by an example that the proposed approach could be used to save network communication resources effectively on the premise of unquestioned stability of the failure system.