| 引用本文: | 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.[点击复制] |
| ZHANG Zhan,GUAN Zhen-tao,BU Yang,XU Cheng,FU Duo.Adaptive event-triggered constraint-following control for underactuated systems[J].Control Theory & Applications,2026,43(1):30~40.[点击复制] |
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| 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 |
| 摘要点击 234 全文点击 30 投稿时间：2024-11-30 修订日期：2025-09-30 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2025.40603 |
| 2026,43(1):30-40 |
| 中文关键词 欠驱动系统 约束跟随控制 事件触发机制 镇定 自适应算法 |
| 英文关键词 underactuated systems constraint-following control event-triggered mechanism stabilization adaptive algorithm |
| 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. |
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| 中文摘要 |
| 欠驱动系统因其独特的性能优势被广泛研究和应用,但其复杂的动力学特性会导致控制上的困难.约束跟
随控制方法可以有效解决欠驱动系统的控制问题.为降低通信成本,提升控制性能,针对该方法提出了一种新型的
事件触发机制.首先,将系统期望轨迹设计为伺服约束,并利用约束跟随控制理论导出伺服控制输入的解析解;其
次, 引入含自适应增益的事件触发机制:通过比较状态偏差补偿控制输入与实时/目标控制输入的偏差,确定允许控
制信号更新的时间,再通过自适应增益选择合适的时间点触发控制信号更新.该机制通过自适应增益动态调整更
新频率,以优化通信效率.通过Lyapunov方法分析了该控制策略的稳定性,并证明了能够有效避免Zeno现象;最后,
通过欠驱动平面垂直起降飞行器上的仿真实验,验证了所提方法的有效性.结果表明,该事件触发机制不仅实现了
通信负载和系统性能之间的平衡,还表现出对干扰的强适应性. |
| 英文摘要 |
| 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. |
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