论文标题
LTI系统的自触发输出反馈控制受到干扰和噪声
Self-Triggered Output-Feedback Control of LTI Systems Subject to Disturbances and Noise
论文作者
论文摘要
自触发的控制（STC）和周期性事件触发的控制（PETC）是与周期采样相比，旨在减少控制数据通信的临时抽样技术。在这两种技术中，具有输出反馈的连续时间系统中测量噪声的效果均未得到解决。在这项工作中，我们证明，加性噪声不会阻碍线性时间不变（LTI）系统的输出反馈PETC的稳定性。然后，我们建立了一种STC策略，该策略估计PETC最差的触发时间。为此，我们使用基于集合的方法，更具体地说是椭圆形集，这些方法描述了状态，干扰和噪声的不确定性。然后，使用椭圆形的可及性来预测最严重的触发条件违规行为，最终确定了下一个通信时间。使用保证的状态估计（GSE）方法对椭圆形状态估计进行递归更新。拟议的STC旨在以计算方式进行计算处理，以牺牲一些增加的保守主义为代价。预计这将是广泛应用程序的实用STC实施。
Self-triggered control (STC) and periodic event-triggered control (PETC) are aperiodic sampling techniques aiming at reducing control data communication when compared to periodic sampling. In both techniques, the effects of measurement noise in continuous-time systems with output feedback are unaddressed. In this work we prove that additive noise does not hinder stability of output-feedback PETC of linear time-invariant (LTI) systems. Then we build an STC strategy that estimates PETC's worst-case triggering times. To accomplish this, we use set-based methods, more specifically ellipsoidal sets, which describe uncertainties on state, disturbances and noise. Ellipsoidal reachability is then used to predict worst-case triggering condition violations, ultimately determining the next communication time. The ellipsoidal state estimate is recursively updated using guaranteed state estimation (GSE) methods. The proposed STC is designed to be computationally tractable at the expense of some added conservatism. It is expected to be a practical STC implementation for a broad range of applications.
