针对带有不确定性的严格反馈的网络化控制系统,提出一种基于固定时间扰动观测器的动态事件触发通信固定时间反步控制方法.首先,提出一种固定时间稳定的扰动观测器以估计系统中的不确定性;然后,设计一种动态事件触发机制来减少系统的通信资源浪费,进而通过补偿不确定性的影响,并考虑事件触发机制对系统的影响,在反步控制框架下设计一种无奇点问题的实际固定时间稳定的控制器;最后,通过数值仿真验证所提出控制方法的有效性.
This paper proposes a dynamic event-triggered fixed-time backstepping control method based on a fixed-time disturbance observer for networked strict-feedback systems with uncertainty. Firstly, a fixed-time disturbance observer is proposed to estimate the uncertainty in the system. Then a dynamic event-triggered mechanism is designed to reduce the communication resource waste of the system. Furthermore, by compensating for the impact of uncertainty and considering the impact of event-triggering mechanisms on the system, a practical fixed-time stable controller without singularity problems is designed under the backstepping framework. Finally, the effectiveness of the proposed control method was verified through numerical simulation.
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