自适应事件触发NCS鲁棒容错控制与通讯协同设计

Co-design of robust fault-tolerant control and communication for NCS based on AETCS

针对具有随机非线性和不确定性的网络化控制系统(networked control system, NCS),研究其自适应事件触发通讯机制与鲁棒容错控制的协同设计方法.首先,引入自适应事件触发通讯机制,其触发参数可自动适应系统动态误差的变化,能够最大程度地节约网络带宽;其次,集网络诱导时延、自适应事件触发通讯条件、执行器更一般的故障以及随机非线性和不确定性为一体,建立非均匀传输的网络化控制系统闭环数学模型,进而基于非连续的Lyapunov-Krasovskii函数推证出具有低通讯资源占有率的时滞/事件依赖的少保守性充分条件,并给出自适应事件触发通讯机制与鲁棒容错控制器的协同设计方法;最后,通过仿真算例进一步验证该方法可有效节约网络通讯资源,且控制性能良好.

Aiming at the networked control systems with stochastic nonlinearity and uncertainty,the co-design method of adaptive event-triggered communication scheme(AETCS)and robust fault-tolerant control for networked control system is studied.Firstly,the adaptive event trigger communication scheme is introduced,and its trigger parameters can automatically adapt to the dynamic error of the system,which can save the network bandwidth to the greatest extent.Secondly,the network induced delay,adaptive event trigger communication conditions,and the more general fault,stochastic nonlinearity and uncertainty are integrated,and the networked control system closed-loop mathematical model of non-uniform transmission is established.Based on the discontinuous Lyapunov-Krasovskii function,the condition of less conservativeness time-delay/event dependence sufficient condition with low communication resource occupancy is proved,and the co-design method of adaptive event-triggered communication scheme and robust fault-tolerant controller is given.Finally,the simulation example further demonstrates that the method used in this paper can effectively save network communication resources and has good control performance.