论文标题
具有延迟的非线性系统的动态自触发控制
Dynamic self-triggered control for nonlinear systems with delays
论文作者
论文摘要
自触发控制（STC）是确定网络控制系统（NCS）的采样瞬间的资源有效方法。最近，在Hertneck和Allgöwer（2021b）中提出了基于非线性NCS的混合Lyapunov函数的动态STC策略，但是在没有传输延迟的情况下限制了NCS。在本文中，我们将这种策略扩展到具有传输延迟的非线性NCS。在许多实际情况下，可以使用产生的动态STC机制来处理系统延迟的能力，在许多实用的情况下，无法保证没有延迟的即时传输。提出的动态STC机制仍然保证了尽管有限的传输延迟，但仍保证了稳定性。该机制的有效性通过数值示例说明，并与最先进的文献进行了比较。
Self-triggered control (STC) is a resource efficient approach to determine sampling instants for Networked Control Systems (NCS). Recently, a dynamic STC strategy based on hybrid Lyapunov functions for nonlinear NCS has been proposed in Hertneck and Allgöwer (2021b), however with the limitation to NCS without transmission delays. In this paper, we extend this strategy for nonlinear NCS with transmission delays. The capability to handle systems with delays makes it possible to use the resulting dynamic STC mechanism in many practical scenarios where instant transmissions without delays cannot be guaranteed. The proposed dynamic STC mechanism guarantees stability despite bounded transmission delays. The effectiveness of the mechanism is illustrated with a numerical example and compared to state-of-the art literature.
