燕山大学学报2025，Vol.49Issue(5)：436-447,12.DOI:10.3969/j.issn.1007-791X.2025.05.007
基于补偿机制的延迟约束非线性系统的动态事件触发控制
Dynamic event-triggered control of delay-constrained nonlinear systems based on compensation mechanism
摘要
Abstract
Considering uncertain nonlinear systems with deferred full-state constraints,a finite-time dynamic event-triggered control strategy is proposed.Firstly,an exponential shifting function is designed to make the initial value of the state that violates the constraint enter the constraint range at a faster speed within a predetermined time,and a nonlinear state transformation function is used to keep all the states of the system within the constraint range.Secondly,the error compensation mechanism is designed to reduce the influence of filter error on the performance of the control system.Thirdly,a new dynamic event-triggered mechanism is constructed to reduce the number of triggers of the controller and save resources.The practical finite-time stability of the closed-loop system is proved by Lyapunov theory.Finally,the effectiveness of the designed control strategy is verified by the comparative simulation of the manipulator system under different event-triggered mechanisms.关键词
非线性系统/全状态约束/平移函数/状态变换函数/实际有限时间稳定Key words
nonlinear system/full state constraints/shifting functions/state transformation function/practical finite time stability分类
信息技术与安全科学引用本文复制引用
李爽,王芳,周超..基于补偿机制的延迟约束非线性系统的动态事件触发控制[J].燕山大学学报,2025,49(5):436-447,12.基金项目
河北省中央引导地方科技发展资金项目(236Z1601G) （236Z1601G）
河北省高等学校科学技术研究项目(ZD2022012) （ZD2022012）
河北省自然科学基金资助项目(F2020203105,F2022203085) （F2020203105,F2022203085）
国家自然科学基金资助项目(62073234) （62073234）
