Control Study Of Switched-Port Controlled Hamiltonian System With Actuator Saturation Constrain

As the industrial process becomes more and more complex,using a single model and controller gradually cannot meet the requirements of high complexity and high precision industry for modeling and control.As a special class of hybrid systems,switched portcontrolled Hamiltonian(SPCH)systems can not only accurately describe the multi-model switching in engineering practice,but also reflect the basic interconnection geometry of each component in the physical structure.This provides a new approach for describing complex nonlinear systems and solving related control problems.In addition,in practical control engineering,the actuator is limited by structure and safety,and the existence of saturation constraint cannot be ignored.Actuator saturation means that the control signal will be distorted once it exceeds the working limit,which may affect the performance of the system and even destroy the stability of the system,which makes the design of the controller very difficult.At present,the research on the control of SPCH systems under saturation constraints is still in its infancy,and lacks a systematic theoretical system.In this paper,fuzzy adaptive control and event-triggered control for SPCH systems under saturation constraints are studied.The details are as follows:1.Adaptive fuzzy control of switched port-controlled Hamiltonian systems with input saturationA fuzzy control technique is proposed for switched port-controlled Hamiltonian systems,in which input saturation and completely unknown internal dynamics occur.Based on the mean-value theorem,multiple Lyapunov functions scheme,and universal approximation ability of fuzzy logic systems,a switching fuzzy adaptive controller is designed to ensure that all closed-loop signals are semiglobally uniformly ultimately bounded.Furthermore,the norm of an ideal weighting vector in fuzzy logic systems is taken as the estimation parameter instead of the elements of the weighting vector to reduce the dimension of adaptation laws.This switching controller can weaken the conservativeness brought by the application of the same controller for each subsystem.Some examples are provided to verify the validity of the proposed approach.2.Event-triggered stabilisation of switched nonlinear systems with actuator saturation based on Hamiltonian approachA Hamiltonian approach is presented to study the event-triggered stabilisation problem of switched affine nonlinear systems with actuator saturation.The key idea is to obtain an event-triggered control strategy by developing constant Hamiltonian realisation method,average dwell time scheme,and nonlinear sector method.The proposed strategy can ensure the asymptotic stability of the plant without violating actuator saturation,even if there exists asynchronous phenomenon between the subsystems and their candidate controllers.The results presented remove the common assumption that the system’s mode and controller’s mode have to be synchronised and that the triggering condition has to be monitored continuously.This extends available results for switched nonlinear systems and reduces energy consumptions.An example is provided to verify the validity of the proposed results.