Event-triggered-based fuzzy adaptive tracking control for nonstrict-feedback asymmetric state constrained systems

Qi Xiaojing; Liu Wenhui; Lu Yuan

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Event-triggered-based fuzzy adaptive tracking control for nonstrict-feedback asymmetric state constrained systems

机译：基于事件触发的非严格反馈非对称状态约束系统的模糊自适应跟踪控制

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In this article, a fuzzy adaptive command filtered event-triggered control issue is considered for a category of nonstrict-feedback nonlinear systems under the conditions of asymmetric state constraints and time-varying input delay. Firstly, the nonlinear state constrained system is transformed into a new system without state constraints by utilizing nonlinear mappings, which achieves state constraints while removing the feasibility conditions of virtual control signals. Secondly, unknown nonlinear terms in the novel system are approached by using the fuzzy logic systems, a state observer is established to estimate the unmeasurable states in the system, and an auxiliary system is constructed to make up for the influence of time-varying input delay. In addition, the command filtered technology is introduced to overcome the complexity explosion problem in the conventional backstepping design process. It is shown that the fuzzy adaptive event-triggered control scheme can not only ensure the convergence of the tracking error at the origin and the boundedness of all closed-loop signals, but also lighten the communication burden from the controller to the actuator. Finally, a numerical example and an underwater vehicle system are simulated to verify the availability and feasibility of the developed approach. & COPY; 2023 Elsevier B.V. All rights reserved.

机译：该文针对一类非严格反馈非线性系统，考虑了在非对称状态约束和时变输入时延条件下的模糊自适应命令滤波事件触发控制问题。首先，利用非线性映射将非线性状态约束系统转化为无状态约束的新系统，在去除虚拟控制信号可行性条件的同时实现状态约束;其次，利用模糊逻辑系统对新系统中未知的非线性项进行处理，建立状态观测器来估计系统中不可测量的状态，并构建辅助系统来弥补时变输入延迟的影响;此外，引入命令滤波技术，克服了常规反步设计过程中的复杂度爆炸问题。结果表明，模糊自适应事件触发控制方案既能保证原点跟踪误差的收敛性和所有闭环信号的有界性，又能减轻控制器与执行器的通信负担。最后，通过数值算例和水下航行器系统仿真验证了所提方法的可行性和可行性。& 复制;2023 爱思唯尔 B.V.保留所有权利。

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来源
《Fuzzy sets and systems》 |2023年第30期|1.1-1.23|共23页
作者
Qi Xiaojing; Liu Wenhui; Lu Yuan;
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作者单位

Nanjing Univ Sci & Technol;

Nanjing Univ Aeronaut & Astronaut;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种英语
中图分类
关键词
Asymmetric state constrained systems; Time-varying input delay; Fuzzy logic systems; Command filtered backstepping; Adaptive event-triggered control;

机译：非对称状态约束系统;时变输入延迟;模糊逻辑系统;命令过滤后退;自适应事件触发控制;

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Event-triggered-based fuzzy adaptive tracking control for nonstrict-feedback asymmetric state constrained systems

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