Event-triggered Control Of Quasi-one-sided Lipschitz Systems

In actual project,there are very few linear systems,most of them are nonlinear systems.Lipschitz nonlinear systems(that is,nonlinear systems whose nonlinear terms satisfy the global Lipschitz condition)are a very important class of nonlinear systems,and their controller and observer designs have been extensively studied.However,it is difficult for actual physical models to satisfy the global Lipschitz condition(although most of them satisfy the local Lipschitz condition).The quasi-one-sided Lipschitz condition has a wider range of applications,and all systems that meet the Lipschitz condition meet the quasi-onesided Lipschitz condition,so the control of the quasi-one-sided Lipschitz system has important research value.The traditional sampling method uses a fixed time period.However,when the system,the system state changes little.If the control signal is still updated frequently,it will inevitably cause waste of resources.This problem can be effectively solved through the event trigger mechanism.This thesis studies the event-triggered control of quasi-one-sided Lipschitz systems.The main contents are as follows:First,the problem of state feedback control for quasi-one-sided Lipschitz nonlinear systems is studied.A quasi-one-sided Lipschitz system is aligned to obtain a full-state feedback controller to ensure that the trivial solution of the closed-loop system is globally asymptotically stable.On this basis,an event triggering mechanism is designed to implement the obtained full state feedback controller.In the designed event triggering control algorithm,the control instructions are updated only when the system state error exceeds a well-designed threshold.Stability analysis is performed for closed-loop systems with event triggering,Lyapunov theory is used to prove that the designed event-triggered control algorithm can guarantee the global exponential stability of the closed-loop system's equilibrium point,and there is no Zeno behavior.Numerical simulation results verify the effectiveness of the proposed control algorithm.Then,the output feedback control of quasi-one-sided Lipschitz nonlinear systems is studied.The observer and output feedback controller are designed according to the quasi-one-sided Lipschitz condition,which makes the trivial solution of the closed-loop system satisfy the global asymptotic stability.Based on this,an event trigger mechanism is designed to implement the obtained output feedback controller.In the designed event trigger control algorithm,the control instruction is updated only when the observer state error exceeds the threshold.Strict theoretical analysis proves that the event trigger control algorithm can keep the closed-loop system globally stable,and there is no Zeno behavior.Numerical simulation results verify the effectiveness of the proposed control algorithm.Finally,the feasibility of the proposed theory is verified by studying the spacecraft rendezvous system.A nonlinear model of the spacecraft rendezvous control system is established and linearized.The event-triggered control algorithm for spacecraft rendezvous is designed based on the obtained theoretical methods.The validity of the theory is verified by simulation.