Ultimately Bounded PID Control for T–S Fuzzy Systems Under FlexRay Communication Protocol

Abstract

This paper 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. Such 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. In the end, a simulation study is conducted to validate the effectiveness of the developed control scheme.