基于T-S模糊双线性模型的事件触发滑模控制

Event-triggered Sliding Mode Control for Takagi-Sugeno Fuzzy Bilinear Models

摘要:

针对模糊双线性系统,研究一类事件触发滑模控制。求出使控制器分母为零的奇异区域,选定事件触发阈值,确定事件触发需满足的条件区域,使奇异区域包含于条件区域。构造积分滑模面,得出常规滑模控制律,并在此基础上,结合事件触发机制,对控制律进行增广,设计辅助控制律,使得系统状态临近奇异区域时,得以平稳过渡,保证系统稳定性,同时保证状态正常到达滑模面。根据设计的事件触发滑模控制律,考虑系统状态趋近奇异区域的不同情况,结合李雅普诺夫稳定性条件,分别对系统状态的可达性和稳定性进行证明。最后,以数值仿真验证所提方法的有效性。

Abstract:

For fuzzy bilinear systems, a class of event triggered sliding mode control is studied. The singular region with zero denominator of the controller is obtained, the event trigger threshold is selected, and the condition region to be met for event trigger is determined, so that the singular region is included in the condition region. The integral sliding mode surface is constructed, and the conventional sliding mode control law is obtained. On this basis, combined with the event trigger mechanism, the control law is extended, and the auxiliary control law is designed to make the system state transition smoothly when it is close to the singular region, ensure the stability of the system, and ensure that the state reaches the sliding mode surface normally. According to the designed event triggered sliding mode control law, considering the different situations that the system state approaches the singular region, combined with the Lyapunov stability condition, the reachability and stability of the system state are proved respectively. Finally, the effectiveness of the proposed method is verified by numerical simulation.