基于事件触发的大规模互联非线性系统的自适应分散漏斗控制

研究了一类不确定大规模非线性系统的分散自适应事件触发漏斗控制问题。首先，利用一个新的带有障碍李雅普诺夫函数的漏斗控制方法，构造了一种自适应分散漏斗控制器，以实现给定瞬态行为的输出跟踪。其次，为了解决控制器设计中的互联项问题，引入了一个辅助非线性函数。同时，将命令滤波技术应用到反步设计中，避免了反步过程中的“复杂性爆炸”问题。此外，还设计了一种事件触发机制，以减少控制器和执行器之间不必要的传输，从而提高资源效率。结果表明，所提出的控制方案能保证闭环系统的所有信号都是有界的，并且跟踪误差总是在漏斗中演化。最后，通过一个数值系统验证了该控制方法的有效性。

Adaptive Decentralized Funnel Control for Large-scale Interconnected Nonlinear Systems Based on Event-triggered

A decentralized adaptive event-triggered funnel control for a class of uncertain large-scale nonlinear systems is studied. Firstly, a new adaptive decentralized funnel controller was constructed by using a new funnel control method with barrier Lyapunov function to achieve output tracking for a given transient behavior. Secondly, an auxiliary nonlinear function was introduced to solve the interconnection problem in controller design. At the same time, the command filtering technique was applied to backstepping design to avoid ‘complexity explosion’ in backstepping process. In addition, an event-triggered mechanism was designed to reduce unnecessary transfers between controllers and actuators, thus improving resource efficiency. The results show that the proposed control scheme can ensure that all the signals of the closed-loop system are bounded and the tracking error always evolves in the funnel. Finally, the effectiveness of the control method is verified by a numerical system.