An Event-triggered Cooperative Control Method for Mixed-Order Nonlinear Systems with Adaptive Thresholds

An adaptive threshold and event-triggered technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve problems such as the inability to effectively adjust the system triggering mechanism and control efficiency, and the inability to automatically adjust the triggering threshold. Frequency, the effect of saving control resources

Active Publication Date: 2022-06-17
GUILIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the trigger threshold cannot be automatically adjusted during the actual system operation, so that the trigger mechanism and control efficiency of the system cannot be effectively adjusted. The present invention provides a mixed-order nonlinear multi- Event-triggered collaborative control method for agent electromechanical systems

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  • An Event-triggered Cooperative Control Method for Mixed-Order Nonlinear Systems with Adaptive Thresholds
  • An Event-triggered Cooperative Control Method for Mixed-Order Nonlinear Systems with Adaptive Thresholds
  • An Event-triggered Cooperative Control Method for Mixed-Order Nonlinear Systems with Adaptive Thresholds

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specific Embodiment approach 1

[0047] Embodiment 1: Combining figure 1 This embodiment will be described. The event-triggered collaborative control method for a mixed-order nonlinear system with an adaptive threshold described in this embodiment includes the following steps:

[0048] Step 1. Establish a mathematical model of a mixed-order multi-agent electromechanical system:

[0049] first order system

[0050]

[0051] second order system

[0052]

[0053] p i , v i is the position and velocity of the ith agent, x i is the state vector of the ith agent, f i (x i ) is a nonlinear function, r i is the external disturbance, h i (x i ) is the nonlinear time-varying control coefficient, u i represents the control quantity, M p is the set of first-order agents, M 2 is a collection of second-order agents.

[0054] Step 2. Establish the synchronous tracking error of the hybrid-order multi-agent electromechanical system:

[0055] first-order synchronous tracking error

[0056]

[0057] Seco...

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Abstract

An event-triggered cooperative control method for a mixed-order nonlinear system with an adaptive threshold, which belongs to the field of electromechanical system cooperative control, and is mainly solved by adaptively adjusting the trigger threshold in the event-triggered cooperative control of a mixed-order multi-agent electromechanical system Trigger control efficiency issues. The invention includes: 1. Establishing the mathematical model of the mixed-order multi-agent electromechanical system; 2. Establishing the synchronous tracking error of the mixed-order multi-agent electromechanical system; 3. Establishing the sliding mode error of the mixed-order multi-agent electromechanical system; 4. Establishing the mixed-order multi-agent electromechanical system A neural network estimation model for multi-agent electromechanical systems; 5. Establish a mixed-order event-triggered cooperative control strategy with an adaptive threshold. The invention is used for event-triggered control of mixed-order electromechanical systems.

Description

technical field [0001] The invention belongs to the field of electromechanical system cooperative control, and mainly relates to a mixed-order nonlinear system event-triggered cooperative control method with an adaptive threshold. Background technique [0002] The mechanism of the traditional sampling control system is triggered based on time, that is, whether the control state of the system needs to be changed or not, the control input of the system will be updated and periodically applied to the controlled system. Event-triggered control is to make the agent communicate, calculate, control output and other operations when necessary according to the designed trigger conditions. From the perspective of resource allocation, the event-triggered method utilizes system resources more scientifically and reasonably than the traditional time-period triggering method. Using the event-triggered mechanism to design appropriate transmission and execution frequency for the agent can ef...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李晓杰王一光王文成梁勇张烈平程加堂
Owner GUILIN UNIVERSITY OF TECHNOLOGY
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