有限通信能力下的网络控制系统的分析与综合
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摘要
随着现代工业的快速发展,控制系统呈现出规模越来越大,集散化程度越来越高的特征,采用线路直连方式的传统控制系统已无法满足这些控制需求。因此,近年来网络控制系统得到了众多学者的广泛研究兴趣。网络控制系统是指系统各部分是由通信网络连接的,其优势包括配置简单、费用低廉等。然而通信网络通信能力有限,它的引入将带来一些相应的问题,例如丢包、网络诱导时延、量化、数据率和链路访问限制等。由于这些网络因素,网络控制系统的性能将会降低甚至变得不稳定。因此,为了降低这些网络诱导因素带来的负面影响,新的针对网络控制系统的分析和综合方法就变得既有理论意义,也具有深远的实际意义。特别地,本文将集中考虑有限通信能力下的网络控制系统的控制和滤波问题。
首先,针对一类离散时间线性系统,同时考虑网络诱导时延、丢包和量化因素,我们提出了一种新型的输出反馈控制器。我们将丢包和网络诱导时延同时建模为接收端中的有界时滞。对于量化问题,我们提出了一种新型的异步量化方法,其每个节点中的动态量化参数能在本地更新,因此我们不再需要发送端和接收端保持同步的量化参数这一假设。我们将相应的量化误差转化成为系统的有界误差。通过构建李雅普诺夫-克拉索夫斯基函数,我们推导了使闭环系统渐近稳定的充分条件。此外,通过基于锥补线性化的算法,我们得到相应的动态输出反馈控制器增益。
然后,我们研究了考虑丢包和网络诱导时延的一类网络非线性系统的H∞状态反馈控制问题,该非线性系统由T-S模糊模型表征。丢包和网络诱导时延被同时建模为接收端中的有界时滞。我们设计了一种最优分段补偿器来估计在传输中丢失或延迟的数据包,通过该方法闭环系统能得到更优的H∞性能。基于一个分段李雅普诺夫函数,我们通过解一系列线性矩阵不等式推导出了该最优分段补偿器和分段控制器的增益。
我们同时也研究了一类由T-S模糊模型表征的非线性系统的网络化滤波器设计方法。考虑网络诱导时延、丢包和量化因素,我们提出了一种网络非线性系统的滤波统一框架。我们采用动态量化器来解决传统静态量化器中的饱和和死区问题,丢包和网络诱导时延被同时建模为接收端中的有界时滞。我们设计了一种分段滤波器使得滤波误差系统渐近稳定。基于一个分段李雅普诺夫函数,通过解一系列线性矩阵不等式我们得到了相应的滤波器参数。
最后,针对网络化的非线性四旋翼飞行器,我们提出了其建模和控制方法,该网络化非线性飞行器由一个T-S模糊模型逼近。我们同时考虑了网络诱导时延和丢包因素。基于一个公共李雅普诺夫函数,通过一系列线性矩阵不等式,我们设计了一个模糊控制器,其能使闭环飞行器系统渐近稳定。仿真结果显示了该方法的有效性。
With the rapid development of modern industry, control systems are becoming larger in scope and more decentralized in location, and are thus difficult to be im-plemented in a traditional directly-connected way. Consequently, networked control systems(NCSs) have attracted considerable research attention in recent decades, where the various components of control systems are connected through communication net-works with benefits such as easy maintenance and low cost. However, the introduction of communication networks intro control systems will bring several challenging is-sues due to limited communication capacity, such as packet dropouts, network-induced delays, quantization, data rate and media access constraints. Due to these network-induced issues, the performance of NCSs will be much degraded and control systems can even become unstable. Therefore, it is of both theoretical and practical significance to develop novel approaches to analysis and synthesis of NCSs in order to reduce the adverse effects of these network-induced issues. In particular, this thesis will con-centrate on the control and estimation problems of NCSs with limited communication capacity.
At first, a novel output feedback controller design method for a class of discrete-time linear NCSs is presented, where the issues of network-induced delays, packet dropouts and quantization in both sensor-to-controller (S/C) and controller-to-actuator (C/A) channels are addressed simultaneously. The packet dropouts and network-induced delays are modeled together as the bounded time-delays in the buffer of the receiving node. A new asynchronous quantization scheme is proposed, where the dynamic quan-tization parameters at each node are updated locally so that the synchronized quan-tization parameters between sending and receiving nodes are not needed. The corre-sponding quantization errors are converted into the bounded system uncertainties. By constructing a Lyapunov-Krasovskii functional, a sufficient condition for the asymp-totical stability of the closed-loop NCSs is derived in terms of a set of linear matrix inequalities. Moreover, the corresponding dynamic output feedback controller gains are obtained by an algorithm based on the cone complementarity linearization.
Then we study the H∞state feedback control problem for a class of networked nonlinear systems with packet dropouts and network-induced delays, where the non-linear systems are represented by T-S fuzzy dynamic models. The packet dropouts and network-induced delays are modeled together as the time-delays at receiving n-ode governed by a transition probability matrix. A piecewise compensator is designed to estimate the lost or delayed packet throughout the transmission in order to obtain the better H∞performance of the closed-loop NCSs. Based on a piecewise Lyapunov functional, the piecewise compensator and controller parameters are derived by intro-ducing some slack matrices and solving a set of linear matrix inequalities.
We also investigate the network-based filter design method for a class of nonlinear systems represented by T-S fuzzy dynamic models. A unified framework is proposed to model the networked nonlinear filtering systems with network-induced delays, packet dropouts and quantization. Dynamic quantizers are utilized to solve the saturation and dead zone problems in comparison to traditional static quantizers, and the delays and packet loss are modeled together as the time-delays in the buffer at the receiving node. The attention is focused on the design of a piecewise filter so that the overall filtering error system is asymptotically stable with a guaranteed H∞performance. The corresponding filter parameters are determined by linear matrix inequality techniques based on a piecewise Lyapunov functional.
Finally, the modeling and control of a network-based nonlinear quadrotor is pre-sented. The network-based nonlinear quadrotor is approximated by a T-S fuzzy dy-namic model. Both the network-induced delays and packet dropouts in S/C and C/A channels are addressed. Based on a common Lyapunov functional, a fuzzy controller is designed by solving a set of linear matrix inequalities so that the resulting closed-loop quadrotor system is asymptotically stable with a guaranteed H∞performance. Simulation results are provided to illustrate the effectiveness of the proposed methods.
首先,针对一类离散时间线性系统,同时考虑网络诱导时延、丢包和量化因素,我们提出了一种新型的输出反馈控制器。我们将丢包和网络诱导时延同时建模为接收端中的有界时滞。对于量化问题,我们提出了一种新型的异步量化方法,其每个节点中的动态量化参数能在本地更新,因此我们不再需要发送端和接收端保持同步的量化参数这一假设。我们将相应的量化误差转化成为系统的有界误差。通过构建李雅普诺夫-克拉索夫斯基函数,我们推导了使闭环系统渐近稳定的充分条件。此外,通过基于锥补线性化的算法,我们得到相应的动态输出反馈控制器增益。
然后,我们研究了考虑丢包和网络诱导时延的一类网络非线性系统的H∞状态反馈控制问题,该非线性系统由T-S模糊模型表征。丢包和网络诱导时延被同时建模为接收端中的有界时滞。我们设计了一种最优分段补偿器来估计在传输中丢失或延迟的数据包,通过该方法闭环系统能得到更优的H∞性能。基于一个分段李雅普诺夫函数,我们通过解一系列线性矩阵不等式推导出了该最优分段补偿器和分段控制器的增益。
我们同时也研究了一类由T-S模糊模型表征的非线性系统的网络化滤波器设计方法。考虑网络诱导时延、丢包和量化因素,我们提出了一种网络非线性系统的滤波统一框架。我们采用动态量化器来解决传统静态量化器中的饱和和死区问题,丢包和网络诱导时延被同时建模为接收端中的有界时滞。我们设计了一种分段滤波器使得滤波误差系统渐近稳定。基于一个分段李雅普诺夫函数,通过解一系列线性矩阵不等式我们得到了相应的滤波器参数。
最后,针对网络化的非线性四旋翼飞行器,我们提出了其建模和控制方法,该网络化非线性飞行器由一个T-S模糊模型逼近。我们同时考虑了网络诱导时延和丢包因素。基于一个公共李雅普诺夫函数,通过一系列线性矩阵不等式,我们设计了一个模糊控制器,其能使闭环飞行器系统渐近稳定。仿真结果显示了该方法的有效性。
With the rapid development of modern industry, control systems are becoming larger in scope and more decentralized in location, and are thus difficult to be im-plemented in a traditional directly-connected way. Consequently, networked control systems(NCSs) have attracted considerable research attention in recent decades, where the various components of control systems are connected through communication net-works with benefits such as easy maintenance and low cost. However, the introduction of communication networks intro control systems will bring several challenging is-sues due to limited communication capacity, such as packet dropouts, network-induced delays, quantization, data rate and media access constraints. Due to these network-induced issues, the performance of NCSs will be much degraded and control systems can even become unstable. Therefore, it is of both theoretical and practical significance to develop novel approaches to analysis and synthesis of NCSs in order to reduce the adverse effects of these network-induced issues. In particular, this thesis will con-centrate on the control and estimation problems of NCSs with limited communication capacity.
At first, a novel output feedback controller design method for a class of discrete-time linear NCSs is presented, where the issues of network-induced delays, packet dropouts and quantization in both sensor-to-controller (S/C) and controller-to-actuator (C/A) channels are addressed simultaneously. The packet dropouts and network-induced delays are modeled together as the bounded time-delays in the buffer of the receiving node. A new asynchronous quantization scheme is proposed, where the dynamic quan-tization parameters at each node are updated locally so that the synchronized quan-tization parameters between sending and receiving nodes are not needed. The corre-sponding quantization errors are converted into the bounded system uncertainties. By constructing a Lyapunov-Krasovskii functional, a sufficient condition for the asymp-totical stability of the closed-loop NCSs is derived in terms of a set of linear matrix inequalities. Moreover, the corresponding dynamic output feedback controller gains are obtained by an algorithm based on the cone complementarity linearization.
Then we study the H∞state feedback control problem for a class of networked nonlinear systems with packet dropouts and network-induced delays, where the non-linear systems are represented by T-S fuzzy dynamic models. The packet dropouts and network-induced delays are modeled together as the time-delays at receiving n-ode governed by a transition probability matrix. A piecewise compensator is designed to estimate the lost or delayed packet throughout the transmission in order to obtain the better H∞performance of the closed-loop NCSs. Based on a piecewise Lyapunov functional, the piecewise compensator and controller parameters are derived by intro-ducing some slack matrices and solving a set of linear matrix inequalities.
We also investigate the network-based filter design method for a class of nonlinear systems represented by T-S fuzzy dynamic models. A unified framework is proposed to model the networked nonlinear filtering systems with network-induced delays, packet dropouts and quantization. Dynamic quantizers are utilized to solve the saturation and dead zone problems in comparison to traditional static quantizers, and the delays and packet loss are modeled together as the time-delays in the buffer at the receiving node. The attention is focused on the design of a piecewise filter so that the overall filtering error system is asymptotically stable with a guaranteed H∞performance. The corresponding filter parameters are determined by linear matrix inequality techniques based on a piecewise Lyapunov functional.
Finally, the modeling and control of a network-based nonlinear quadrotor is pre-sented. The network-based nonlinear quadrotor is approximated by a T-S fuzzy dy-namic model. Both the network-induced delays and packet dropouts in S/C and C/A channels are addressed. Based on a common Lyapunov functional, a fuzzy controller is designed by solving a set of linear matrix inequalities so that the resulting closed-loop quadrotor system is asymptotically stable with a guaranteed H∞performance. Simulation results are provided to illustrate the effectiveness of the proposed methods.
引文
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