Probabilistic-constrained reliable [formula omitted] tracking control for a class of stochastic nonlinear systems: An outlier-resistant event-triggered scheme

Abstract

In this study, the probabilistic-constrained outlier-resistant tracking control problem is investigated for a class of stochastic nonlinear systems subject to measurement outliers, randomly occurring faults and stochastic nonlinearities. The measurement outliers (e.g. the abnormal values of sensor measurements), which are mainly caused by sensor outages, faults or some unpredictable sudden but sharp disturbances, would inevitably bring certain negative effects on control performance if not tackled appropriately. Different from the commonly used saturation-function-based method, new type of event-trigger-based outlier-resistant communication scheme is proposed in this paper. Based on the proposed scheme, not only those “unnecessary” measurements are not permitted for transmission, but also the measurement outliers are discarded. The main purpose of the current study is to design a novel tracking control scheme such that both the H∞ control performance and specific probabilistic constraint (i.e., the probability of the tracking error falling in a prescribed set is larger than a preset value) are satisfied simultaneously. Furthermore, a finite-horizon probabilistic-constrained H∞ tracking control algorithm is developed to co-design the controller gain matrices and parameters of the event-triggered communication scheme. Finally, one example is utilized to illustrate the efficiency of the theoretical results.