基于离散事件触发的不确定NNCS鲁棒完整性设计

Integrity design of uncertainty nonlinear networked control system based on discrete event-triggered scheme

从节约网络通讯资源和确保系统安全的角度出发,针对一类存在时变时延和不确定性的非线性网络化控制系统(NNCS),在执行器故障的情况下,进行离散事件触发通讯机制(DETCS)与NNCS鲁棒容错的协同设计研究.首先基于DETCS,考虑执行器失效故障,采用状态反馈控制策略,建立闭环NNCS故障模型;然后利用Lyapunov稳定性理论、互反凸组合等技术,得到DETCS下使系统具有鲁棒完整性的时滞/事件依赖充分条件,并给出NNCS容错控制器与事件触发权矩阵协同求解的方法;最后通过仿真实例验证文中所述方法的有效性,并对触发参数对系统性能、网络通讯资源占用的影响等进行分析讨论.

Starting from the point of view of saving the network communication resources and ensuring the system safety, and aimed at a nonlinear networked control system（NNCS） with time-varying delay and parameter uncertainties, the cooperative design of discrete event-triggered communication scheme （DE- TCS）and NNCS robust fault-tolerance was investigated for the case of actuator failures. Firstly, based on the discrete event-triggered communication scheme, taking account of the actuator failures, and using state feedback control strategy, a closed-loop failure model of NNCS is established. Then, utilizing Lyapunov stability theory and reciprocally convex approach, the sufficient conditions were obtained for making the system possess time-delay/event-dependence of robust integrity under DETCS. Moreover, a cooperative solution method of NNCS fault tolerant controller and event-triggered weighting matrix was given. Final- ly, the effectiveness of foregoing method was verified by an actual simulation example and the influence of the triggering parameters on the system performance and occupation of network communication resource was analyzed and discussed.