Comparison Of Typical Event-triggering Mechanisms And Its Validation In Networked Inverted Pendulum System

With the development of modern science and technology,the industrial control systems are developing rapidly towards the direction of networking and intelligence.The analysis and design methods of networked control systems have been widely used in industry,medical treatment,aerospace and other fields.However,the communication bandwidth of networked control systems is limited,and the traditional periodic sampling and control methods will waste computing and communication resources.In addition the uncertainty of system parameters and networked delay would also bring new challenges to the analysis and design of networked control systems.It is helpful to save computing and communication resources,alleviate network congestion and reduce networked delay by a given event-triggering condition in advance to decide whether to send sampling information.Therefore,it is of great theoretical and practical value to study the analysis and design of networked control systems based on the event-triggering mechanism.This thesis is concerned with the design of event-triggering mechanism for networked inverted pendulum control system with parameter uncertainty and networked delay,the self-triggering,static event-triggering and dynamic event-triggering mechanisms are used to optimize network communication in the realization of network control of inverted pendulum system.Then through the construction of the simulation platform of the networked inverted pendulum control system based on True Time2.0 and the development of the networked inverted pendulum experimental system,the performance analysis and comparison of the advantages and disadvantages of the three event-triggering mechanisms are carried out,and the advantages and disadvantages are summarized.The main work and results of the thesis are presented as follows:(1)Considering the total diversity of existing event-triggering mechanisms,it is impossible to fully understand the differences,application scenarios,advantages and disadvantages of various event-triggering mechanisms.First of all,the principle of different types of event-triggering mechanism is systematically introduced.Then,thesame type of different forms of event-triggering mechanism are analyzed and compared.Finally,the advantages and disadvantages of different event-triggering mechanisms are summarized.(2)The networked inverted pendulum control system with parameter uncertainty and networked delay,the self-triggering mechanism,the static event-triggering mechanism and the dynamic event-triggering mechanism are used as the information transmission methods respectively,an event-triggering mechanism with parameter uncertainty and network delay and a controller design method are proposed by combining the Lyapunov stability theory and the linear matrix inequality technology..The simulation platform of networked inverted pendulum control system based on self-triggering mechanism,static event-triggering mechanism and dynamic event-triggering mechanism is constructed by using True Time2.0 the real-time simulation toolbox,the simulation of networked inverted pendulum control system based on these three triggering mechanisms is realized.Furthermore,the stability of the networked inverted pendulum control system and the number of triggering events are analyzed and compared under the above three triggering mechanisms.(3)The experimental platform of networked inverted pendulum control system based on event-triggering mechanism is constructed by using the MFC programming framework,and the effectiveness of the networked inverted pendulum control system based on self-triggering mechanism,static event-triggering mechanism and dynamic event-triggering mechanism are verified.Secondly,the optimization degree of these three triggering mechanisms on data transmission times and the influence on the stability and robust performance of networked inverted pendulum control system are analyzed,and the algorithm complexity of these triggering mechanisms is also analyzed and compared.Finally,the advantages and disadvantages of these three triggering mechanisms are summarized.Finally,the thesis is summarized and the future research direction are prospected.