控制理论与应用2026，Vol.43Issue(1)：30-40,11.DOI:10.7641/CTA.2025.40603
欠驱动系统自适应事件触发约束跟随控制
Adaptive event-triggered constraint-following control for underactuated systems
摘要
Abstract
Underactuated systems have been widely studied and applied due to their unique performance advantages,but their complex dynamic characteristics can lead to challenges in control.Constrained-following control method can effectively address the control problems of underactuated systems.To reduce communication costs and enhance control performance,a novel event-triggered mechanism is proposed for this method.Firstly,the desired trajectories of the system are designed as servo constraints,and the analytical solution of servo control input is derived using constraint-following control theory.Secondly,an event-triggered mechanism with adaptive gain is introduced:By comparing the state deviation compensation control input with the deviation of the real-time/target control inputs,the mechanism determines permissible time instants for control signal updates.Subsequently,adaptive gain is employed to select optimal moments for triggering control signal updates.This mechanism dynamically adjusts the update frequency through adaptive gain to optimize com-munication efficiency.The stability of this control strategy is analyzed using the Lyapunov method,and it is demonstrated that the proposed approach effectively avoids Zeno phenomenon.Finally,simulations on an underactuated planar vertical take-off and landing(PVTOL)aircraft verify the effectiveness of the proposed method.Results indicate that the event-triggered mechanism not only achieves a balance between communication load and system performance but also exhibits strong adaptability to disturbances.关键词
欠驱动系统/约束跟随控制/事件触发机制/镇定/自适应算法Key words
underactuated systems/constraint-following control/event-triggered mechanism/stabilization/adaptive algorithm引用本文复制引用
张展,管震涛,卜洋,徐晟,付铎..欠驱动系统自适应事件触发约束跟随控制[J].控制理论与应用,2026,43(1):30-40,11.基金项目
中国计量大学青年科技人才培育专项项目(01029)资助.Supported by the China Jiliang University Young Scientific Talent Cultivation Special Program(01029). （01029）
