欠驱动系统自适应事件触发约束跟随控制OA

Underactuated systems have been widely studied and applied due to their unique performance advantages,but their complex dynamic characteristics can lead to challenges in control.Constrained-following control method can effectively address the control problems of underactuated systems.To reduce communication costs and enhance control performance,a novel event-triggered mechanism is proposed for this method.Firstly,the desired trajectories of the system are designed as servo constraints,and the analytical solution of servo control input is derived using constraint-following control theory.Secondly,an event-triggered mechanism with adaptive gain is introduced:By comparing the state deviation compensation control input with the deviation of the real-time/target control inputs,the mechanism determines permissible time instants for control signal updates.Subsequently,adaptive gain is employed to select optimal moments for triggering control signal updates.This mechanism dynamically adjusts the update frequency through adaptive gain to optimize com-munication efficiency.The stability of this control strategy is analyzed using the Lyapunov method,and it is demonstrated that the proposed approach effectively avoids Zeno phenomenon.Finally,simulations on an underactuated planar vertical take-off and landing(PVTOL)aircraft verify the effectiveness of the proposed method.Results indicate that the event-triggered mechanism not only achieves a balance between communication load and system performance but also exhibits strong adaptability to disturbances.