基于事件触发机制的NCS控制与通信协同设计
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摘要
主要考虑网络化控制系统中通信网络和控制系统的耦合问题,研究了基于事件触发机制的控制与通信的协同设计问题。首先,建立了基于通信网络的事件触发控制模型,通过分析控制系统模型和通信网络拥塞控制模型设计了新的事件触发条件;然后,运用(Lyapunov-Krasovskii,L-K)泛函和LMI,分析了网络化控制系统的H?性能,并进行了H?控制器的设计;最后,通过仿真实例表明所得结论的正确性。
Considering the coupled problems of communication network and control systems for network control systems, co-design of control and communication based on event-triggered scheme for network control systems is studied. First, the model of event-triggered control based on the communication network is built, by analysing the model of control systems and congestion control of the communication network, a novel event-triggered condition is presented. And then, by applying the Lyapunov-Krasovskii functional approach and linear matrix inequality, the H? performance of network control systems are analyzed, and the H? controller are designed. Finally, a numerical example shows the correctness of this conclusion.
Considering the coupled problems of communication network and control systems for network control systems, co-design of control and communication based on event-triggered scheme for network control systems is studied. First, the model of event-triggered control based on the communication network is built, by analysing the model of control systems and congestion control of the communication network, a novel event-triggered condition is presented. And then, by applying the Lyapunov-Krasovskii functional approach and linear matrix inequality, the H? performance of network control systems are analyzed, and the H? controller are designed. Finally, a numerical example shows the correctness of this conclusion.
引文
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[21]Gu K.An integral inequality in the stability problem of time-delay systems[C].Proceedings of the 39th IEEE Conference on Decision and Control,2000.
[22]PARK P,KO J W,JEONG C.Reciprocally convex approach to stability of systems with time-varying delays[J].Automatica,2011,47(1):235-238.
[2]邢江,关治洪.网络化控制系统的研究现状与展望[J].控制工程,2006,13(4):294-297.Xing J,Guan Z H.Research ststus and prospect of networked aontrol system[J].Control Engineering of China,2006,13(4):294-297.
[3]谢德晓,韩笑冬,黄鹤,等.具有时延和丢包的网络控制系统?H状态反馈控制[J].控制与决策,2009,24(4):0587-0592.Xie D X,Han X D,Huang H,et al.Network control system with delay and packet loos?H state feedback control[J].Control and decision making,2009,24(4):0587-0592.
[4]王岩,刘涛,孙增圻,等.不确定长时延网络控制系统的?H鲁棒控制[J].控制工程,2011,18(2):0210-0214.Wang Y,Liu T,Sun Z X,et al.Uncertain long time delay network control system?H robust control[J].Control Engineering of China,2011,18(2):0210-0214.
[5]游科友,谢立华.网络控制系统的最新研究综述[J].自动化学报,2013,39(2):101-118.You K Y,Xie L H.An overview of the latest research on network control systems[J].Journal of automation,2013,39(2):101-118.
[6]Zhang X M,Han Q L.Survey on Recent Advances in Networked Control Systems[J].IEEE Transactions on Industrial Informatics,2016,12(5):1740-1752.
[7]Lehmann D,Lunze J.Event-based control:A state-Feedback Approach[C].Proceedings of the European Control Conference,2009,1716-1721.
[8]Chen P,Tai C Y.Event-triggered communication and?H control co-design for networked control systems[J].Automatica,2013,49(5):1326-1332.
[9]Heemels W,Donkers M,Teel A.Periodic event-triggered Control Based on State Feedback[C].IEEE Conference on Decision and Control and European Control Conference,2011:2571-2576.
[10]Almeida J,Silvestre C,Pascoal A.Self-triggered state feedback control of linear plants under bounded disturbances[C].IEEEConference on Decision and Control,2010:7588-7593.
[11]吴文,刘斌,姚靖,等.基于事件触发网络控制系统的分布式控制[J].湖南工业大学学报,2014,28(4):61-66.Wu W,Liu B,Yao J,et al.Distributed control based on event-triggered network control system[J].Journal of Hunan university of Technology,2014,28(4):61-66.
[12]李亚洁,李炜.离散事件触发通讯下不确定NCS的?-稳定鲁棒容错设计[J].兰州理工大学学报,2015,41(1):0081-0090.Li Y J,Li W.Stable robust fault-tolerant design for uncertain?-sevent-triggered communication of NCS[J].Journal of Lanzhou university of Technology,2015,41(1):0081-0090.
[13]?rzén K.A simple event-based PID controller[C].Proceedings of the 14th IFAC World Congress,1999:423-428.
[14]?str?m K.,Bernhardsson B.Comparison of periodic and event based sampling for first-order stochastic systems[C].Proceedings of the 14th IFAC World Congress,1999:301-306.
[15]Tabuada P.Event-triggered Real-Time Scheduling of Stabilizing Control Tasks[J].IEEE Transactions on Automatic Control,2007,52(9):1680-1685.
[16]Wang X F,Lemmon M D.Event-Triggered in Distributed Networked Control Systems[J].IEEE Transactions on Automatic Control,2011,56(3):586-601.
[17]Guo G,Ding L,Han Q L.A distributed event-triggered transmission strategy for sampled-data consensus of multi-agent systems[J].Automatica,2014,50(5):1489-1496.
[18]Girard A.Dynamic Triggering Mechanisma for Event-Triggered Control[J].IEEE Transactions on Automatic Control,2015,60(7):1992-1997.
[19]Lin Y F,Han Q L,Yang F W.Event-triggered control for networked systems based on network dynamics[C].2013 IEEEInternational Symposium on Industrial Electronics,Taipei,Taiwan.2013:1-6.
[20]Lin Y F,Han Q L,Yang F W,et al.Event-triggered?H Filtering for Networked Systems Based on Network Dynamics[C].39th Annual Conference of the IEEE Industrial Electronics Society,Vienna,Austria,2013:5638-564.
[21]Gu K.An integral inequality in the stability problem of time-delay systems[C].Proceedings of the 39th IEEE Conference on Decision and Control,2000.
[22]PARK P,KO J W,JEONG C.Reciprocally convex approach to stability of systems with time-varying delays[J].Automatica,2011,47(1):235-238.