Dynamic Event-triggered Control For Saturated Systems With Anti-windup Compensation

Event-triggered control is a kind of aperiodic control mechanism.The control task is released when the event condition is satisfied.It reduces the communication resource of network control system on the premise of stability and other performance.On the other hand,actuator saturation is a common phenomenon for system application,lead-ing to stability and performance degradation of control system.The anti-windup com-pensation approach is an effective method to mitigate the negative effect of saturation.Inspired by the above issues,this thesis is concerned with the dynamic event-triggered control for saturated systems with anti-windup compensation.The main contents are listed below:First,we design a new event-triggering mechanism for continuous-time actuator saturated system.With the purpose of maximizing the domain of attraction,we propose a regional stability criterion for the closed-loop system and give a lower bound of the inter-event time.The triggering mechanism could significantly reduce the triggering times and can be applied to system whose full state measurements are not available.On the other hand,an iterative algorithm is presented to design the static anti-windup compensation gain.It alleviates the negative effect of input saturation,enlarges the domain of attraction and improves system performance.In addition,we design the self-triggered control which predicts the next updating time by software.Therefore,there is no need to monitor the plant's current output con-tinuously.Moreover,we design the periodic event-triggered mechanism which combine the sampling control and event-triggered control.It only verify the triggering condition at periodic instants.Owing to the feasible condition and performance limitation of static anti-windup compensation,we further investigate the dynamic anti-windup compensation.The dy-namic compensator has internal variable states and could provide better system perfor-mance.For the given anti-windup compensator,a convex stability criterion is formulat-ed to minimize the finite L₂gain.The minimum inter-event time is explicitly provided to exclude Zeno behavior.For the unknown anti-windup compensator,the feasible con-dition is provided,and an algorithm using projection lemma is proposed to design the dynamic anti-windup gain.For two special cases,i.e.,the anti-windup compensator is static or of plant-order,feasibility conditions become convex,which has a wide appli-cation in practical.