Ultimately Bounded PID Control for T–S Fuzzy Systems Under FlexRay Communication Protocol
Yezheng Wang, Zidong Wang, Lei Zou, Lifeng Ma, Hongli Dong
Abstract
This article investigates the ultimately bounded proportional–integral–derivative (PID) control problem for a class of discrete-time Takagi–Sugeno fuzzy systems subject to unknown-but-bounded noises and protocol constraints. The signal transmissions from sensors to the remote controller are realized via a communication network, where the FlexRay protocol is employed to flexibly schedule the information exchange. The FlexRay protocol is characterized by both the time- and event-triggered mechanisms, which are conducted in a cyclic manner. By using a piecewise approach, the measurement outputs affected by the FlexRay protocol are established based on a switching model. Then, a fuzzy PID controller is proposed with a concise and realizable structure. To evaluate the performance of the controlled system, a special time sequence is introduced that accounts for the behavior of the FlexRay protocol. Subsequently, a general framework is obtained to verify the boundedness of the closed-loop system, and then, the controller gains are designed by minimizing the bound of the concerned variables. Finally, a simulation study is conducted to validate the effectiveness of the developed control scheme.