【摘要】 文章针对一类带输入磁滞的不确定非线性系统的控制问题进行了研究，提出一种自适应模糊事件触发控制方法。一方面，实际系统模型往往难于精确获取，建模过程中难免会有不确定部分，不确定部分的处理得当与否将直接影响控制的精度；另一方面，因为输入磁滞在实际物理系统中是不可避免的，系统需要大量的控制量来补偿磁滞以保证控制精度，所以磁滞会加重系统通信的负担。然而，系统的通信资源是有限的，研究如何减少通信资源的占用在理论和实践中都具有重要意义。针对上述问题，文章基于Backstepping技术，利用模糊逻辑系统处理系统中的不确定部分，与此同时设计一种特殊相对阈值事件触发机制，实现了非周期的事件触发控制。该方法可以在线补偿磁滞，在保证系统控制精度的前提下，减少输入信号的更新频率，从而节约通信资源。从理论上证明闭环系统中的所有信号都是半全局一致最终有界的，且设计的事件触发机制可以避免Zeno现象的出现。最后，仿真验证了所提方法的有效性。更多还原

【Abstract】 In this article, the control scheme of a class of uncertain nonlinear systems with input hysteresis is studied and an adaptive fuzzy event-triggered control method is proposed. On one hand, the actual system model is difficult to obtain accurately, the modeling process inevitably has an uncertain part, whether the uncertain part is properly handled will directly affect the control accuracy. On the other hand, the input hysteresis is inevitable in the physical system, the system needs lots of input signals to compensate for the hysteresis and to ensure the control accuracy, so the hysteresis will increase the burden of system communication. However, the communication resources of the system are limited and therefore it is of great significance to study how to reduce the occupation of communication resources in both theory and practice. To solve the above problems, based on the backstepping technology, fuzzy logic systems are introduced to approximate the unknown items of the system. At the same time, a special relative threshold event triggering mechanism is constructed to realize the non-periodic event triggering control. The proposed method can compensate the hysteresis online and reduce the update frequency of input signal on the premise of ensuring the control accuracy of the system, so as to save communication resources. Theoretical analysis shows that all signals in the closed loop system are semi-globally uniformly ultimately bounded and the event triggering mechanism designed can avoid Zeno phenomenon. Finally, simulation results verify the effectiveness of the proposed method.更多还原