论文标题
基于区域的自触发控制，用于扰动和不确定的非线性系统
Region-Based Self-Triggered Control for Perturbed and Uncertain Nonlinear Systems
论文作者
论文摘要
在这项工作中，我们为具有有限干扰和模型不确定性的非线性系统提供了基于区域的自触发控制（STC）方案。所提出的STC方案能够确保不同的性能规范（例如稳定性，有限性等），具体取决于所选为模拟的事件触发的控制（ETC）触发函数。为了应对干扰和不确定性，我们采用差异包含（DIS）。通过在DIS的背景下引入ETC/STC概念，我们将众所周知的结果扩展到ETC/STC上，以扰动不确定的系统。鉴于这些结果以及以前的工作中的适应工具，我们得出了扰动不确定等系统的等应流膜的内部附属物。这些近似值将状态空间的分区划分为区域，每个区域都与统一的放样时间有关。在每个采样时间瞬间，控制器检查所测量状态所属的哪个区域，并相应地决定下一个采样即时。
In this work, we derive a region-based self-triggered control (STC) scheme for nonlinear systems with bounded disturbances and model uncertainties. The proposed STC scheme is able to guarantee different performance specifications (e.g. stability, boundedness, etc.), depending on the event-triggered control (ETC) triggering function that is chosen to be emulated. To deal with disturbances and uncertainties, we employ differential inclusions (DIs). By introducing ETC/STC notions in the context of DIs, we extend well-known results on ETC/STC to perturbed uncertain systems. Given these results, and adapting tools from our previous work, we derive inner-approximations of isochronous manifolds of perturbed uncertain ETC systems. These approximations dictate a partition of the state-space into regions, each of which is associated to a uniform inter-sampling time. At each sampling time instant, the controller checks to which region the measured state belongs and correspondingly decides the next sampling instant.
