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1.
This article is dedicated to the issue of asynchronous adaptive observer-based sliding mode control for a class of nonlinear stochastic switching systems with Markovian switching. The system under examination is subject to matched uncertainties, external disturbances, and quantized outputs and is described by a TS fuzzy stochastic switching model with a Markovian process. A quantized sliding mode observer is designed, as are two modes-dependent fuzzy switching surfaces for the error and estimated systems, based on a mode dependent logarithmic quantizer. The Lyapunov approach is employed to establish sufficient conditions for sliding mode dynamics to be robust mean square stable with extended dissipativity. Moreover, with the decoupling matrix procedure, a new linear matrix inequality-based criterion is investigated to synthesize the controller and observer gains. The adaptive control technique is used to synthesize asynchronous sliding mode controllers for error and SMO systems, respectively, so as to ensure that the pre-designed sliding surfaces can be reached, and the closed-loop system can perform robustly despite uncertainties and signal quantization error.Finally, simulation results on a one-link arm robot system are provided to show potential applications as well as validate the effectiveness of the proposed scheme.  相似文献   

2.
This paper is concerned with asynchronous stabilization for a class of discrete-time Markovian jump systems. The mode of designed controller is considered to be not perfectly synchronous with the activated mode of the Markovian jump system. In order to achieve the asymptotic stability with asynchronous controller, a conditional probability is introduced to describe the asynchronism of system and controller modes, which is dependent on the active system mode. Besides, due to the difficulty in acquiring all the mode transition probabilities in practice, the transition probabilities of the Markovian jump system and the controllers are supposed to be partially unknown. A necessary and sufficient condition is developed to guarantee the stochastic stability of the resultant closed-loop system and further extended to asynchronous stabilization with partially known transition probabilities. Finally, the effectiveness and advantages of the proposed methods are demonstrated by two illustrative examples.  相似文献   

3.
This paper deals with the sliding mode control problem for semi-Markovian jump systems with state saturation, in which the controller may not be synchronized with the considered systems. A mode-detector is introduced to estimate the unavailable system mode, based on which an asynchronous sliding mode controller is designed. Then, both the μ-exponential mean-square stability and the reachability of sliding surface are analyzed. Furthermore, a solving algorithm is given to acquire the feasible controller gains. Finally, the proposed asynchronous sliding mode control approach under state-saturation is illustrated via simulation results.  相似文献   

4.
The current paper addresses the fuzzy adaptive tracking control via output feedback for single-input single-output (SISO) nonlinear systems in strict-feedback form. Under the situation of system states being unavailable, the system output is used to set up the state observer to estimate the real system states. Furthermore, the estimation states are employed to design controller. During the control design process, fuzzy logic systems (FLSs) are used to model the unknown nonlinearities. A novel observer-based finite-time tracking control scheme is proposed via fuzzy adaptive backstepping and barrier Lyapunov function approach. The suggested fuzzy adaptive output feedback controller can force the output tracking error to meet the pre-specified accuracy in a fixed time. Meanwhile, all the closed-loop variables are bounded. Compared to some existing finite-time output feedback control schemes, the developed control strategy guarantees that the settling time and the error accuracy are independent of the uncertainties and can be specified by the designer. At last, the effectiveness and feasibility of the proposed control scheme are demonstrated by two simulation examples.  相似文献   

5.
This paper studies the robust stochastic stabilization problem for a class of fuzzy Markovian jump systems with time-varying delay and external disturbances via sliding mode control scheme. Based on the equivalent-input-disturbance (EID) approach, an online disturbance estimator is implemented to reject the unknown disturbance effect on the considered system. Specifically, to obtain exact EID estimation Luenberger fuzzy state observer and a low-pass filter incorporated to the closed-loop system. Moreover, novel fuzzy EID-based sliding mode control law is constructed to ensure the stability of the closed-loop system with satisfactory disturbance rejection performance. By employing Lyapunov stability theory and some integral inequalities, a new set of delay-dependent robust stability conditions is derived in terms of linear matrix inequalities (LMIs). The resulting LMI is used to find the gains of the state-feedback controller and the state observer a for the resulting closed-loop system. At last, numerical simulations based on the single-link arm robot model are provided to illustrate the proposed design technique.  相似文献   

6.
This paper investigates sliding mode control of stochastic singular Markovian jump systems with nonlinearity. The unmatched nonlinearity satisfies one-sided Lipschitz condition and quadratically inner-boundedness. In term of a new technical variable transformation, sufficient conditions are developed for nonlinear stochastic singular Markovian jump systems constrained on sliding manifold to guarantee stochastic admissibility and uniqueness of solution based on implicit function theorem. The sliding mode control law by which the trajectories of system can be compelled to the predefined sliding surface in finite time no matter what initial state value is, is synthesized. The derivative singular matrix is fully considered in the whole design process such that the derived conditions can be checked easily.The technical treatment of the nonlinear matrix term avoids the classification discussion of sliding mode controller design. Convex optimization problems subject to linear matrix inequalities are formulated to optimize the desired indexes of interest. Finally, the effectiveness of the proposed approach is illustrated by a numerical example and a practical example.  相似文献   

7.
This work is concerned with the finite-time sliding mode control for a class of Markovian jump systems subject to actuator nonlinearities, where the elements in the transition rate matrix are uncertain or even completely unknown. A suitable sliding mode controller is designed such that the finite-time stochastic boundedness of state trajectories is attained during a given finite-time interval, in which two different robust terms are introduced for the known and unknown modes to deal with the effect of uncertain transition rates. Moreover, the connections among sliding functions under Markovian jumping for SMC systems are analyzed. Finally, some simulation results with a wheeled mobile manipulator are provided.  相似文献   

8.
This study is concerned with the event-triggered sliding mode control problem for a class of cyber-physical switched systems, in which the Denial-of-Service (DoS) attacks may randomly occur according to the Bernoulli distribution. A key issue is how to design the output feedback sliding mode control (SMC) law for guaranteeing the dynamical performance of the closed-loop system under DoS attacks. To this end, an event-triggered mechanism is firstly introduced to reduce the communication load, under which the measurement signal is transmitted only when a certain triggering condition is satisfied. An usable output signal for the controller is constructed to compensate the effect of unmeasured states and DoS attacks. And then, a dynamic output feedback sliding mode controller is designed by means of the attack probability and the compensated output signals. Both the reachability and the mean-square exponential stability of sliding mode dynamics are investigated and the corresponding sufficient conditions are obtained. Finally, some numerical simulation results are provided.  相似文献   

9.
The issue of adaptive sliding mode controller design via output knowledge is studied for discrete-time Markov jump systems in this paper by means of using singular system scheme. To force the system state onto the sliding motion, an appropriate switching surface depended on the system output is established. Meanwhile, the reachability of the sliding manifold is guaranteed by synthesizing the robust sliding mode controller and adaptive sliding mode controller for the accessible and inaccessible upper bounds of sliding patch, respectively. By using Lyapunov functional technique, sufficient criteria to guarantee the sliding motion to be stochastically admissible are proposed. Then the reachability conditions of the predesigned switching surface are developed. Finally, simulation results are provided to illustrate the effectiveness of the proposed approach.  相似文献   

10.
This paper discusses the problem of the fuzzy sliding mode control for a class of disturbed systems. First, a fuzzy auxiliary controller is constructed based on a feedback signal not only to estimate the unknown control term, but also participates in the sliding mode control due to the fuzzy rule employed. Then, we extend our theory into the cases, where some kind of system information can not be obtained, for better use of our theoretical results in real engineering. Finally, some typical numerical examples are included to demonstrate the effectiveness and advantage of the designed sliding mode controller.  相似文献   

11.
This paper deals with the input–output finite-time stabilization problem for Markovian jump systems (MJSs) with incompletely known transition rates. An observer-based output feedback controller is constructed to study the input–output finite-time stability (IO-FTS) problem. By using the mode-dependent Lyapunov–krasovskii functional method, a sufficient criterion checking the IO-FTS problem is provided. Then, an observer and a corresponding state feedback controller for the individual subsystem are respectively designed to solve the input–output finite-time stabilization problem for the systems. Finally, a numerical example on the mass-spring system model is investigated to bring out the advantages of the control scheme proposed in this paper.  相似文献   

12.
The issue of finite-time sliding mode control (SMC) is studied for a class of Markov jump systems, in which parameter uncertainties, external disturbances and time-varying delay are considered. Firstly, a suitable observer-based SMC law is devised so that state trajectory of the system can reach the designed sliding mode surface in finite-time, the gain of the controller is asynchronous to the mode of original system. Meanwhile, the sufficient conditions of finite-time boundedness in the sliding phase and reaching phase are derived by the time partition strategy. Moreover, the gains of the observer and the observer-based controller will be acquired by using the linear matrix inequalities tool. In fine, emulation products are used to confirm the merits of the SMC strategy.  相似文献   

13.
This paper is concerned with the robust sliding mode control (SMC) problem for a class of uncertain discrete-time Markovian jump systems with mixed delays. The mixed delays consist of both the discrete time-varying delays and the infinite distributed delays. The purpose of the addressed problem is to design a sliding mode controller such that, in the simultaneous presence of parameter uncertainties, Markovian jumping parameters and mixed time-delays, the state trajectories are driven onto the pre-defined sliding surface and the resulting sliding mode dynamics is stochastically stable in the mean-square sense. A discrete-time sliding surface is firstly constructed and an SMC law is synthesized to ensure the reaching condition. Moreover, by constructing a new Lyapunov–Krasovskii functional and employing the delay-fractioning approach, a sufficient condition is established to guarantee the stochastic stability of the sliding mode dynamics. Such a condition is characterized in terms of a set of matrix inequalities that can be easily solved by using the semi-definite programming method. A simulation example is given to illustrate the effectiveness and feasibility of the proposed design scheme.  相似文献   

14.
This paper considers the sliding mode control (SMC) problem of a class of uncertain Markovian jump systems, in which there exist randomly occurring parameter uncertainties and random gain variations in the controller. By introducing two independent random variables obeying Bernoulli distribution, the random characteristics of parameter uncertainties and controller gain variations are described. A mode-dependent sliding surface is constructed, and then, the non-fragile SMC scheme is synthesized such that the specified sliding surface is reached in finite time. Furthermore, the stochastic finite-time boundedness over both the reaching and sliding stages are ensured simultaneously under some sufficient conditions. Finally, the developed non-fragile SMC approach is verified by a practical example.  相似文献   

15.
This paper proposes an improved asynchronous stabilization method for nonhomogeneous Markovian jump fuzzy systems (MJFSs) with incomplete transition rates via a nonparallel distributed compensation (non-PDC) control scheme. To cover a more realistic situation in the continuous-time MJFS domain, this paper focuses on addressing the following issues differently from previous studies: 1) emergence of a nonhomogeneous Markov process and asynchronous control mode, 2) separation of the Lyapunov matrix from the control gain within stabilization conditions, and 3) relaxation of stabilization conditions subject to multiple time-varying parameters. Specifically, the effects of nonhomogeneity and asynchronism are simultaneously reflected in the stabilization conditions, and separation and relaxation techniques are additionally developed as needed. Finally, the advantages of our method are illustrated through two examples: the first is provided to show the effectiveness of the proposed separation technique, and the second is provided to show that the relaxed stabilization conditions are less conservative than previous results.  相似文献   

16.
The problem of decentralized adaptive control is investigated for a class of large-scale nonstrict-feedback nonlinear systems subject to dynamic interaction and unmeasurable states, where the dynamic interaction is related to both input and output items. First, the fuzzy logic system is utilized to tackle unknown nonlinear function with nonstrict-feedback structure. Then, by combining adaptive and backstepping technology, the proper output feedback controller is designed. Meanwhile, a fuzzy state observer is proposed to estimate the unmeasurable states. The proposed controller could guarantee that all the signals of the resulting closed-loop systems are bounded. Finally, the applicability of the proposed controller is well carried out by a simulation example.  相似文献   

17.
非线性不确定系统的模糊自适应 输出反馈跟踪   总被引：2，自引：0，他引：2  
本文研究了非仿射非线性系统的模糊自适应 输出反馈跟踪。在非仿射非线性模型存在不确定的情况下，使用模糊自适应控制器对系统进行控制，并基于Lyapunov稳定性定理得出自适应律。通过解一个代数Riccati方程实现了 跟踪性能。估计状态通过引入高增益观测器得到，实现了系统的输出反馈控制。最后，通过对一个数值例子的仿真验证了算法的有效性。  相似文献   

18.
In this article, the fault-tolerant control is investigated for the spacecraft attitude control system described by a linearized model with Markovian switching. First, the evolution of sudden failures of the spacecraft’s actuators is described by a Markov process. Then, the mathematical model of the spacecraft attitude control system with the Markov jump characteristic fault is established. Taking the uncertainty of the system model and external interference into consideration, a fault-tolerant control scheme is proposed for the established spacecraft attitude control system with the Markov jump characteristic fault by using the sliding mode control technique. Compared with some existing sliding mode controller design methods, the proposed method requires a less total number of LMIs to be solved. The stability and reachability of the resulting closed-loop system under the presented sliding mode control scheme are proven by applying the Lyapunov stability theory. Finally, some simulation results are provided to show the effectiveness and advantages of the proposed control method for spacecraft attitude control.  相似文献   

19.
This paper is concerned with stochastic stabilization of Markovian jump systems. By using some novel analysis technique, especially the established quasi time-homogeneous property, the aperiodic intermittent and sampled-data strategies have been integrated into stochastic stabilized theory. A criterion is derived, which ensures the stabilization via the aperiodic intermittent stochastic feedback based on sampled-data of state and mode of Markovian jump systems. Two numericalexamples are given to show the effectiveness of our criterion.  相似文献   

20.
In this work, the problem of sliding mode control is considered for a class of Markovian jumping systems. The packet dropout may happen when the state information is transmitted from the sensor to the controller. By means of an estimator for lost signals, an integral-like sliding function is constructed. And then, a sliding mode controller involving in dropout probability is designed such that the effect of packet losses can be effectively attenuated. Besides, the analysis on both the stability of sliding mode dynamics and the reachability of sliding surface are made. Finally, the numerical simulation results are given.  相似文献   

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