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1.
This paper addresses the issue of resilient control in the presence of denial-of-service (DoS) attacks for a class of cyber-physical systems. The primary objective is to design a static output feedback controller and event-triggered condition simultaneously such that the globally exponential stability of the closed-loop system is ensured. Compared with stepwise techniques, the co-design achieves the trade-off between control performance and communication cost. The control co-design process is formulated as a bilinear matrix inequality (BMI) problem, which involves nonlinear terms. A successive convex optimization approach is proposed to solve the BMI problem. Further, we develop a self-triggered communication scheme to reduce the cost caused by continuous event detection. It is shown that the proposed event/self-triggered strategy is Zeno-free and excludes singular triggering. Finally, a numerical example is presented to demonstrate the validity of the proposed method.  相似文献   

2.
To decrease the communication frequency between the controller and the actuator, this paper addresses the spacecraft attitude control problem by adopting the event-triggered strategy. First of all, a backstepping-based inverse optimal attitude control law is proposed, where both the virtual control law and the actual control law are respectively optimal with respect to certain cost functionals. Then, an event-triggered scheme is proposed to realize the obtained inverse optimal attitude control law. By designing the event triggering mechanism elaborately, it is guaranteed that the trivial solution of the closed-loop system is globally exponentially stable and there is no Zeno phenomenon in the closed-loop system. Further, the obtained event-triggered attitude control law is modified and extended to the more general case when the disturbance torque cannot be ignored. It is proved that all states of the closed-loop system are bounded, the attitude error can be made arbitrarily small ultimately by choosing appropriate design parameters and the Zeno phenomenon is excluded in the closed-loop system. In the proposed event-triggered attitude control approaches, the control signal transmitted from the controller to the actuator is only updated at the triggered time instant when the accumulated error exceeds the threshold defined elaborately. Simulation results show that by using the proposed event-triggered attitude control approach, the communication burden can be significantly reduced compared with the traditional spacecraft control schemes realized in the time-triggered way.  相似文献   

3.
In this paper, we study the consensus tracking control problem of a class of strict-feedback multi-agent systems (MASs) with uncertain nonlinear dynamics, input saturation, output and partial state constraints (PSCs) which are assumed to be time-varying. An adaptive distributed control scheme is proposed for consensus achievement via output feedback and event-triggered strategy in directed networks containing a spanning tree. To handle saturated control inputs, a linear form of the control input is adopted by transforming the saturation function. The radial basis function neural network (RBFNN) is applied to approximate the uncertain nonlinear dynamics. Since the system outputs are the only available data, a high-gain adaptive observer based on RBFNN is constructed to estimate the unmeasurable states. To ensure that the constraints of system outputs and partial states are never violated, a barrier Lyapunov function (BLF) with time-varying boundary function is constructed. Event-triggered control (ETC) strategy is applied to save communication resources. By using backstepping design method, the proposed distributed controller can guarantee the boundedness of all system signals, consensus tracking with a bounded error and avoidance of Zeno behavior. Finally, the correctness of the theoretical results is verified by computer simulation.  相似文献   

4.
This paper addresses the adaptive fuzzy event-triggered control (ETC) problem for a class of nonlinear uncertain systems with unknown nonlinear functions. A novel ETC approach that exhibits a combinational triggering (CT) behavior is proposed to update the controller and fuzzy weight vectors, achieving the non-periodic control input signals for nonlinear systems. A CT-based fuzzy adaptive observer is firstly constructed to estimate the unmeasurable states. Based on this, an output feedback ETC is proposed following the backstepping and error transformation methods, which ensures the prescribed dynamic tracking (PDT) performance. The PDT performance indicates that the transient bounds, over-shooting and ultimate values of tracking errors are fully determined by the control parameters and functions chosen by users. The closed-loop stability is guaranteed under the framework of impulsive dynamic system. Besides, the Zeno phenomenon is circumvented. The theoretical analysis indicates that the proposed scheme guarantees control performance while considerably reducing the communication resource utilization and controller updating frequency. Finally, the numerical simulations are conducted to verify the theoretical findings.  相似文献   

5.
In this paper, a coopetitive output regulation problem is considered for general linear multi-agent systems with antagonistic interactions, where not all the agents have access to the state, the output, the system matrix and the output matrix of the exogenous system or exosystem. In this sense, the internal model incorporation of the system matrix of the exosystem is also only available to some agents. Thus, we propose distributed observers for each agent: (i) To estimate the state, the output, the system matrix and the output matrix, and (ii) the unavailable internal model of the exosystem. Then, a distributed dynamic output feedback controller is proposed for each agent to solve the coopetitive output regulation problem. The exponential stability of the closed-loop system is analyzed with the output regulation theory. Finally, some simulation results are presented to validate the proposed control strategy.  相似文献   

6.
《Journal of The Franklin Institute》2019,356(17):10296-10314
This paper investigates the problem of distributed event-triggered sliding mode control (SMC) for switched systems with limited communication capacity. Moreover, the system output and switching signals are both considered to be sampled by distributed digital sensors, which may cause control delay and asynchronous switching. First of all, a novel distributed event-triggering scheme for switched systems is proposed to reduce bandwidth requirements. Then, a state observer is designed to estimate the system state via sampled system output with transmission delay. Based on the observed system state, a switched SMC law and corresponding switching law are designed to guarantee the exponential stability of the closed-loop system with H∞ performance. Finally, an application example is given to illustrate the effectiveness of the proposed method.  相似文献   

7.
This paper investigates an event-triggered control design approach for discrete-time linear parameter-varying (LPV) systems under control constraints. The proposed conditions can simultaneously design a parameter-dependent dynamic output feedback controller and an event generator, ensuring the closed-loop system’s regional asymptotic stability. Based on the Lyapunov stability theory, these conditions are given in terms of linear matrix inequalities (LMIs). Moreover, using some proposed optimization procedures, it is possible to minimize the number of sensor transmissions, maximize the estimation of the region of attraction of the origin, and incorporate optimal control criteria into the formulation. Through numerical examples, some comparisons with other approaches in the literature evidence the proposed technique’s efficacy.  相似文献   

8.
We address the leader-following tracking consensus issue for a class of linear multi-agent systems (MASs) via dynamic event-triggered (DET) approaches in this paper. The DET communication mechanism is introduced by an additional internal dynamic variable, and is developed to schedule agents’ data transmission. State observers are also employed to tackle the scenario wherein inner information of follower agents are not available for measurement. And then, state-based and observer-based distributed control proposals are proposed on the basis of dynamic event-triggered mechanism (DETM), respectively. To avoid continuous measurement information monitor, we present a technical approach for generation of the combinational information from their own neighboring agents only at event instants. The stabilities of the resulting closed-loop systems, both state-feedback one and output-feedback one, are rigorously analyzed in theory, and it is proven that all signals in the closed-loop system are bounded and Zeno behavior is also excluded. Simulation examples are presented to illustrate the theoretical claims.  相似文献   

9.
The study aims to explore the optimal actuator switching scheme of observer-based event-triggered state feedback control for distributed parameter systems. The performance of distributed parameter systems is improved through the observer-based event-triggered control, in which the state feedback is updated only when a triggered event happens. In such an event-triggered mechanism, the event-based closed-loop system and minimum time interval between consecutive events are bounded. Based on finite horizon linear quadratic regulator (LQR) optimal control, the optimal switching algorithm is proposed based on the event-triggered mechanism during an unfixed time interval. Finally, the proposed scheme is verified through a simulation case.  相似文献   

10.
This paper considers distributed consensus problem of multi-agent systems consisting of general linear dynamics with a time-invariant communication topology. A distributed full-order observer type consensus protocol based on relative output measurements of neighbor agents is proposed. It is found that the consensus problem of linear multi-agent systems with a directed communication topology having a spanning tree can be solved if and only if all subsystems are asymptotically stable. Some necessary and sufficient conditions are obtained for ensuring consensus in multi-agent systems. The design technique is based on algebraic graph theory, Riccati inequality and linear control theory. Finally, simulation example is given to illustrate the effectiveness of the theoretical results.  相似文献   

11.
In this paper, new conditions for the stabilisation and transient performance improvement of linear parameter-varying (LPV) systems considering the gain-scheduling (GS) strategy are proposed. Our work is focused on dealing with LPV systems under the major practical constraint of incomplete state measurement. In that sense, we propose two new control design strategies based on linear matrix inequalities (LMI). First, for coping with the general case where only a subset of the state variables is measured, we propose a new static output feedback (SOF) strategy. Second, for dealing with the particular case where only accelerometers signals are available, we bring new synthesis conditions for the design of state derivative feedback (SDF) controllers. Further from stability, our proposed methods are able to induce better transient response by including pole placement LMI constraints in the control design. For illustrating our contribution efficacy, we present a couple of design examples.  相似文献   

12.
This paper proposes a time domain approach to deal with the regional eigenvalue-clustering robustness analysis problem of linear uncertain multivariable output feedback proportional-integral-derivative (PID) control systems. The robust regional eigenvalue-clustering analysis problem of linear uncertain multivariable output feedback PID control systems is converted to the regional eigenvalue-clustering robustness analysis problem of linear uncertain singular systems with static output feedback controller. Based on some essential properties of matrix measures, a new sufficient condition is proposed for ensuring that the closed-loop singular system with both structured and mixed quadratically-coupled parameter uncertainties is regular and impulse-free, and has all its finite eigenvalues retained inside the same specified region as the nominal closed-loop singular system does. Two numerical examples are given to illustrate the application of the presented sufficient condition.  相似文献   

13.
This paper proposes a framework for the design of sparsely distributed output feedback discrete-time sliding mode control (ODSMC) for interconnected systems. The major target here is to develop an observer based discrete-time sliding mode controller employing a sparsely distributed control network structure in which local controllers exploit some other sub-systems’ information as well as its own local information. As the local controllers/observers have access to some other sub-systems’ states, the control performance will be improved and the applicability region will be widened compared to the decentralised structure. As the first step, a stability condition is derived for the overall closed-loop system obtained from applying ODSMC to the underlying interconnected system, by assuming a priori known structure for the control/observer network. The developed LMI based controller design scheme provides the possibility to employ different information patterns such as fully distributed, sparsely distributed and decentralised patterns. In the second step, we propose a methodology to identify a sparse control/observer network structure with the least possible number of communication links that satisfies the stability condition given in the first step. The boundedness of the obtained overall closed-loop system is analysed and a bound is derived for the augmented system state which includes the closed-loop system state and the switching function.  相似文献   

14.
This paper is concerned with event-triggered cooperative control of a platoon of connected vehicles via vehicular ad hoc networks (VANETs). To reduce communications among vehicles, we introduce a hybrid event-triggered transmission mechanism based on both time elapsed and state error. The effect of time-varying transmission delay and communication energy constraint can be also taken into account in the system modeling and design procedures. The on-board sensors use different power levels to transmit information resulting in different packet loss rates. The vehicular platoon system is proved to be exponentially mean-square stable under the hybrid event-triggering scheme and a constant time headway spacing policy. A framework for co-design of the hybrid event triggering scheme and the output feedback controller is given to guarantee platoon stability and spacing-error convergence along the stream. Numerical simulations are given to demonstrate the effectiveness of proposed method.  相似文献   

15.
This paper proposes a design framework of sensor communication by using the stochastic event triggers, which aims at best saving the communication resources. The system to be considered is as follows: a sensor takes measurements of the states of a dynamic process and sends the information to a remote estimator, and the estimator computes the state estimates for the dynamic process. To save communication resources, a set of stochastic event triggers on the measurements are assigned to the sensor. At each sampled time, when no trigger is triggered, the sensor sends nothing to the estimator; when one of them is triggered, the sensor sends the identity code of the corresponding trigger. It is shown that once the estimator receives the identity of the trigger, it is equivalent for the estimator to receiving a measurement from a certain virtual sensor. Based on it, the system performance under the proposed communication is analyzed, and the design of specific models is considered. Examples are presented to demonstrate the proposed communication design.  相似文献   

16.
The event-triggered consensus control for second-order multi-agent systems subject to actuator saturation and input time delay, is investigated in this paper. Based on the designed triggering function, a distributed event-triggered control strategy is presented to drive the system to achieve consensus. Communication energy can be saved as the agents send their state information only at infrequent event instants, the continuous communication among agents is not necessary. Lyapunov-Krasovskii functional is used together with linear matrix inequality technique to analyze the stability of the closed-loop error system. The results show that agents achieve exponentially consensus under the proposed controller. Furthermore, the bounds of solution are obtained by establishing the differential equation associated with the first delay interval. The initial domain is estimated by optimizing the linear matrix inequalities. Finally, simulation examples are presented to illustrate the effectiveness of the proposed controller.  相似文献   

17.
This paper considers the distributed tracking control problem for linear multi-agent systems with disturbances and a leader whose control input is nonzero and not available to any follower. Based on the relative output measurements of neighboring agents, a novel distributed observer-based tracking protocol is proposed, where the distributed intermediate estimators are constructed to estimate the leader’s unknown control input and the states of the tracking error system simultaneously, then a distributed tracking protocol is designed based on the derived estimates. It is proved that the states of the tracking error system are uniformly ultimately bounded and an explicit tracking error bound is obtained. A simulation example of aircrafts verifies the effectiveness of the proposed method.  相似文献   

18.
This paper is concerned with the problems of reachable set estimation and state-feedback controller design for linear systems with distributed delays and bounded disturbance inputs. The disturbance inputs are assumed to be either unit-energy bounded or unit-peak bounded. First, based on the Lyapunov–Krasovskii functional approach and the delay-partitioning technique, delay-dependent conditions for estimating the reachable set of the considered system are derived. These conditions guarantee the existence of an ellipsoid that contains the system state under zero initial conditions. Second, the reachable set estimation is taken into account in the controller design. Here, the purpose is to determine an ellipsoid and find a state-feedback controller such that the determined ellipsoid contains the reachable set of the resulting closed-loop system. Sufficient conditions for the solvability of the control synthesis problem are obtained. Based on these results, the problem of how to design a controller such that the state of the resulting closed-loop system is contained in a prescribed ellipsoid is studied. Finally, numerical examples and simulation results are provided to show the effectiveness of the proposed analysis and design methods.  相似文献   

19.
This paper deals with the output consensus problem for uncertain nonstrict-feedback leader-follower multi-agent systems with predefined performance. A distributed event-triggered control strategy with dynamic threshold is proposed to update the actual control input and alleviate the computation burden of the communication procedure effectively. The unknown nonstrict-feedback structures are addressed by using the property of radial basis function neural networks. It is worth noting that in practical applications, the predefined performance often alternates between constrained and unconstrained cases in some extreme situations. To overcome this challenge, a novel coordinate transformation technique is incorporated to tackle both the two cases with and without performance constraint in a unified manner. As a result, the proposed event-triggered control approach ensures that the output consensus errors converge to zero asymptotically, and all the signals in the closed-loop system are bounded. Finally, the effectiveness of the proposed protocol is demonstrated by the simulation results.  相似文献   

20.
This paper studies the event-triggered model predictive control (MPC) of a stabilizable linear continuous-time system. The optimization problem associated with the proposed MPC strategy is formulated exploiting newly designed control constraints. Compared with the conventional tube-based MPC, where the constant tightened control constraints are employed, the proposed MPC strategy exploits the time-varying control constraints, which allows the control signal to take larger values in the beginning along the prediction horizon, resulting in potentially improved system performance. The re-computation of the control signal is triggered by the deviation of the predicted system state and the real system state. Furthermore, conditions are derived based on which the design parameters can be tuned to ensure the recursive feasibility of the optimization and the stability of the closed-loop system. Finally, the effectiveness of the proposed MPC strategy is verified using a numerical example.  相似文献   

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