离散输入受限系统的增益调度事件触发和自触发控制

Gain scheduled event-triggered and self-triggered control of discrete-time input constrained systems

针对离散输入受限系统,分别设计静态和动态的增益调度事件触发和自触发控制算法.首先设计一种基于离散参量Lyapunov方程的静态增益调度事件触发控制算法,该算法通过事件触发机制更新控制增益,使得在增大闭环系统收敛速率的同时节约通讯资源.为了避免对采样状态和测量误差的连续监测,设计了相应的静态增益调度自触发控制算法;同时,为进一步增大触发间隔,分别设计相关的动态增益调度事件触发和自触发控制算法.不仅建立设计参数与最小触发间隔之间的关系,还给出可以避免triviality现象发生的条件;最后,将所提出算法应用于航天器交会系统控制器的设计,并直接在原始非线性模型上进行仿真,仿真结果验证了所设计算法的有效性.

This article proposes static/dynamic gain scheduled event-triggered and self-triggered control algorithms for discrete-time input constrained systems. Firstly, a static event-triggered gain scheduled control(GSETC) algorithm based on the discrete-time parametric Lyapunov equation, where the parameter in the control gain is updated using a static event-triggered mechanism, is proposed such that the convergence rate of the closed-loop systems is increased and the communication resources are saved simultaneously. In order to avoid monitoring all sampling states and the measurement errors, the static self-triggered gain scheduled control(GSSTC) algorithm is also designed. Moreover, in order to further increase the inter-event times, the corresponding dynamic GSETC and GSSTC are designed. An explicit relationship between the design parameter and the minimal inter-event time and a condition for avoiding the triviality phenomenon are given. Finally, the designed algorithms are used to stabilize the spacecraft rendezvous system, and numerical simulations on the original nonlinear model show the effectiveness of the proposed algorithms.