Research And Experiment On T-S Fuzzy Adaptive Control Technology Under Event-triggered Strategy

The T-S fuzzy model is widely used in the modeling of complex nonlinear systems because it is a universal function approximator that can accurately approximate any smooth nonlinear dynamics.However,most of the previous researches on the T-S fuzzy system ignored the limitation of communication resources.Compared with the traditional time-triggered control strategy,the event-triggered control systems perform control tasks only when needed,which can effectively reduce the frequency of information transmission among the devices in the control system and save communication resources.The event-triggered control has great application prospects in the wave of Io T.In this paper,the event-triggered control technology and its experimental research for the T-S fuzzy system are studied,which has important theoretical significance and engineering application value.Firstly,the design of piecewise event-triggered controller and the event-triggered condition for the discrete T-S fuzzy systems is studied.By partitioning the premise variables of the fuzzy system,a piecewise event-triggered controller based on the local region is designed.By using piecewise Lyapunov function for stability analysis,a design method of event-triggered condition parameters is proposed based on linear matrix inequality,which can reduce the communication frequency between the sensor and the controller while ensuring the closed-loop stability of the fuzzy system.The relationship between the event-triggered parameters and the data transmission rate is investigated by a simulation.Secondly,considering the uncertain parameters of the system,the design of the event-triggered controller and the event-triggered mechanism for continuous T-S fuzzy systems is studied combining with the model-based control strategy.A model-based fuzzy controller is designed using an explicit model and the distributed compensation control algorithm,and an event-triggered condition is designed by analyzing the stability of the closed-loop system.Derive the lower bound on the eventtriggered interval to ensure that events are not triggered an infinite number of times in a finite time.Thirdly,based on the previous research,the problem of designing the event-triggered mechanism based on the adaptive model is studied for continuous T-S multiple-input multiple-output(MIMO)fuzzy system with parameter uncertainty.An event-triggered stabilization controller is designed using the adaptive model,and the adaptive model parameters are updated at the event-triggered instants using the adaptive law.Considering the closed-loop system as a nonlinear impulsive model for stability analysis,an event-triggered condition design that can ensure the close-loop stability is given.It is proved that the minimum time interval between two successive event-triggered instants is positive.Finally,two experiments based on the microcontroller Arduino are designed,and the influence of the event-triggered mechanism on the fuzzy control system is explored by experimental research.In the first experiment,a Mamdani fuzzy controller is designed for a DC motor to track a given position signal,and the experimental results before and after adding a fixed threshold event-triggered condition are compared.In the second experiment,an inverted pendulum control system based on Arduino is built.The experimental results show the control effect of the piecewise fuzzy controller on the inverted pendulum system under the event-triggered mechanism.Compared with the experimental results under the periodic controller,the event-triggered strategy can effectively reduce the data transmission frequency.