一类分数阶系统的有界H_(∞)事件触发跟踪控制

Bounded-H_(∞)event-triggered tracking control for a class of fractional order systems

针对一类具有未知外部扰动以及输入饱和且控制方向未知的非同元次分数阶严格反馈非线性系统,研究其基于事件触发机制的自适应有界H_(∞)跟踪控制问题。结合事件触发策略、有界H_(∞)控制方法以及Nussbaum增益技术,提出一种自适应神经网络有界H_(∞)事件触发跟踪控制方法。所设计的控制器能够保证系统的跟踪误差以及闭环系统中的所有信号是有界的,且系统对外部干扰具有很好的抑制作用。此外,所提出的控制策略既可避免非线性系统H_(∞)控制方法中可能出现的控制器输出值过大的问题,也能使系统的控制输入不再频繁进行更新,进而达到节约通信资源的目的。仿真结果验证了所提出方法的可行性及有效性。

The adaptive bounded-H_(∞)tracking control problem based on the event-triggered mechanism is investigated for a class of incommensurate fractional order strict feedback nonlinear systems with unknown external disturbances,input saturation and unknown control directions.By combining event-triggered strategy,bounded-H_(∞)control method with Nussbaum-gain technique,an adaptive neural network bounded-H_(∞)eventtriggered tracking control method is proposed.The designed controller can guarantee that the tracking error and all the signals in the closed-loop system are bounded,and the system has a good suppression effect on external disturbances.Furthermore,the proposed control strategy not only avoids the overlarge output value of the controller in H_(∞)control method of nonlinear systems,but also makes the control input of the system no longer update frequently,so as to achieve the saving purpose of communication resources.Finally,the simulation results demonstrate the feasibility and effectiveness of the proposed method.