Event-triggered Based Output Regulation For Switched Systems:Adjacent Mode-Dependent Average Dwell Time Approach

Output regulation is a method of restraining external disturbance.It can track a kind of reference signal asymptotically while maintaining the stability of closed-loop system.Robot arm control,aircraft cruise control and other issues can be summed up as output regulation.With the rapid development of science and technology,the modeling of complex systems can better meet people's needs for complex system activities.Switched systems are an important model in complex systems.However,in the control problem of switched systems,the controller updates control information and transmits it to the system from time to time,but the communication resources are limited,which may cause information congestion and packet loss.Therefore,it is necessary to introduce event trigger control to reduce the number of control information updates,so as to save communication resources.Strict passivity is also an important property in practical system research.In this paper,the cooperative design schemes of event-triggered mechanism and controller are given for several types of switched systems.The output regulation of these types of switched systems is discussed.Specifically,the work of this paper is as follows:Firstly,the problem of event-triggered output regulation for a class of discrete-time switched systems is discussed.The definition of adjacent mode-dependent average dwell time(AMDADT)is extended to discrete-time switched systems.A joint design scheme of event-triggered full information state feedback controller and switching rule are given by using piecewise Lyapunov function method,and sufficient conditions for the solvability of the output regulation problem of the system are obtained.Using different coordinate transformation,the regulator equations of each subsystem can be obtained,which can prevent the regulator equations from having common solutions.Then,the feasibility of event-triggered control in the output regulation of switched system is verified by simulation results.Finally,the results are extended to the case of self-triggered control.Secondly,the output regulation problem of a class of discrete-time switched systems is discussed based on strict passivity under event trigger control.The adjacent mode-dependent piecewise Lyapunov function and event-triggered mechanism are constructed for strict passivity is designed,which makes the designed event-triggered mechanism increase at some discrete time compared with the general state-based event-triggered mechanism.The triggered time of each event can also reduce the constraints on the positive definite matrix.Based onthe AMDADT method,sufficient conditions for the solvability of a class of discrete-time switched systems with strict passive output regulation under event-triggered control are obtained.Finally,a numerical examples is given to verify the effectiveness of the proposed method.Finally,the strict passive output regulation problem with event-triggered mechanism for a class of continuous-time switched systems is discussed based on AMDADT method.Firstly,the adjacent mode-dependent piecewise Lyapunov function is constructed,and the cooperative design scheme of event-triggered full information state feedback controller and switching rule which satisfying the definition of AMDADT is given.Then,the sufficient conditions for the solvability of the problem are given in the form of LMIs.After that,it is proved that the triggered interval of two consecutive events is strictly positive.