Balancing Fuzzy Control Performance and Reachable-Set-Dependent Event-Triggered Communication

This work investigates the control design and reachable set estimation problem for T-S fuzzy systems under bounded external disturbances. By designing a fuzzy controller, the reachable set of the closed-loop fuzzy system can be bounded by an ellipsoid that is minimized via two optimization algorithms. When the fuzzy control scheme is implemented under an event-triggered framework, the limited information availability may degrade desired control performance due to only the triggered state being available for the fuzzy controller. To alleviate this problem, a novel reachable-set-dependent event-triggering condition is proposed such that satisfactory control performance can still be ensured by the above fuzzy controller. Meanwhile, the bounding ellipsoid of the reachable set is explicitly given, and a relationship is established between control performance and communication cost under the event-triggered scheme. In addition, under the condition that the reachable set remains within a specified safe area, the communication rate can be reduced while still achieving optimal control performance. The proposed strategies are verified via a simulation example.