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Event-triggered tracking control for a class of nonholonomic systems in chained form

Science China(Information Sciences) 2023年第7期66卷 147-161页

作者： Liang XU Youfeng SU He CAI Center for Discrete Mathematics and Theoretical Computer Science Fuzhou University College of Computer and Data Science Fuzhou University School of Automation Science and Engineering South China University of Technology

In this study, the event-triggered asymptotic tracking control problem is considered for a class of nonholonomic systems in chained form for the time-varying reference input. First, to eliminate the ripple phenomenon caused by the imprecise compensation of the time-varying reference input, a novel time-varying event-triggered piecewise continuous control law and a triggering mechanism with a time-varying triggering function are developed. Second, an explicit integral input-to-state stable Lyapunov function is constructed for the time-varying closed-loop system regarding the sampling error as the external input. The origin of the closed-loop system is shown to be uniformly globally asymptotically stable for any global exponential decaying threshold signals, which in turn rules out the Zeno behavior. Moreover, infinitely fast sampling can be avoided by appropriately tuning the exponential convergence rate of the threshold signal. A numerical simulation example is provided to illustrate the proposed control approach.

关键词： event-triggered nonholonomic systems strict Lyapunov function tracking integral input-to-state stable

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Stabilization of Cascaded Nonlinear Networks with Multiple integral ISS Dynamic Uncertainties

Stabilization of Cascaded Nonlinear Networks with Multiple I...

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第37届中国控制会议

作者： Xinghu Wang Youfeng Su Dabo Xu Department of Automation University of Science and Technology of China College of Mathematics and Computer Science Fuzhou University School of Automation Nanjing University of Science and Technology

This paper is to address a theoretical result on a global stabilization technique for a class of nonlinear interconnected systems or namely large-scale dynamic *** problem is of interest and has strong impacts in resolving complex nonlinear output regulation *** handle the problem,we first present a new tractable condition,based on an i ISS（integral input-to-state stable） network stability criterion proposed in literature,for nonlinear networks with cascade interconnection and i ISS dynamic ***,we develop a recursive procedure for achieving i ISS based global robust stabilization *** from relevant studies in recent literature,our study is strictly extended and also leads to constructive i ISS-Lyapunov functions for the closed-loop system.

关键词： Stabilization integral input-to-state stable nonlinear systems dynamic uncertainties

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