存在双通道丢包的不确定网络控制系统鲁棒滑模控制（英文）
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摘要
针对一类同时存在传感器-控制器以及控制器-执行器丢包的网络控制系统,提出了一种鲁棒滑模控制算法。首先,基于随机Bernoulli建模方法建立了丢包系统模型。在此基础上提出了一种具有丢包补偿项的鲁棒滑模面,以及基于干扰上界的趋近率滑模控制器,并应用Lyapunov稳定性分析方法,分析了系统滑动模态的稳定性以及控制器的到达条件。仿真结果表明,所设计的控制器能够有效抑制双通道数据丢包对系统性能的影响,同时对非匹配不确定性和外部干扰具有良好的鲁棒性。
A robust sliding mode control algorithm is developed for a class of networked control system with packet dropouts in both sensor-controller channel and controller-actuator channel, and at the same time mismatched parametric uncertainty and external disturbance are also taken into consideration. A two-level Bernoulli process has been used to describe the packet dropouts existing in both channels. A novel integral sliding surface is proposed, based on which the H_∞ performance of system sliding mode motion is analyzed. Then the sufficient condition for system stability and robustness is derived in the form of linear matrix inequality(LMI). A sliding mode controller is designed which can guarantee a relatively ideal system dynamic performance and has certain robustness against unknown parameter perturbations and external disturbances. The results from numerical simulations are presented to corroborate the validity of the proposed controller.
A robust sliding mode control algorithm is developed for a class of networked control system with packet dropouts in both sensor-controller channel and controller-actuator channel, and at the same time mismatched parametric uncertainty and external disturbance are also taken into consideration. A two-level Bernoulli process has been used to describe the packet dropouts existing in both channels. A novel integral sliding surface is proposed, based on which the H_∞ performance of system sliding mode motion is analyzed. Then the sufficient condition for system stability and robustness is derived in the form of linear matrix inequality(LMI). A sliding mode controller is designed which can guarantee a relatively ideal system dynamic performance and has certain robustness against unknown parameter perturbations and external disturbances. The results from numerical simulations are presented to corroborate the validity of the proposed controller.
引文
[1] QI Qing-yuan, ZHANG Huan-shui. Output feedback control and stabilization for networked control systems with packet losses[J]. IEEE Transactions on Cybernetics, 2017, 47(8):2223-2234.
[2] YAN Jing-jing, XIA Yuan-qing. Quantized control for networked control systems with packet dropout and unknown disturbances[J]. Information Sciences, 2016, 354:86-100.
[3] PANG Zhong-hua, LIU Guo-ping, ZHOU Dong-hua, SUN De-hui. Data-based predictive control for networkednonlinear systems with packet dropout and measurement noise[J]. Journal of System Science and Complexity, 2017,30:1072-1083.
[4] SHEN Dong, ZHANG Chao, XU Yun. Two updating schemes of iterative learning control for networked control systems with random data dropouts[J]. Information Sciences,2017,381:352-370.
[5] JIANG Xiao-wei, ZHANG He-xian, GUAN Zhi-hong, YU Li, YAN Huai-cheng. Performance limitations of networked control systems with quantization and packet dropouts[J].ISA Transactions, 2017, 67:98-106.
[6] SONG Jiang-peng, ZHOU Di, SUN Guang-li, QI Zhi-hui.Robust control with compensation of adaptive model for dual-stage inertially stabilized platform[J]. Journal of Central South University, 2018, 25(11):2615-2625.
[7] YANG Hong-jiu, XU Yang, ZHANG Jin-hui. Event-driven control for networked control systems with quantization and markov packet losses[J]. IEEE Transactions on Cybernetics,2017, 47(8):2235-2243.
[8] CHEN Hai-fei, GAO Jin-feng, SHI Ting, LU Ren-quan. H_∞control for networked control systems with time delay, data packet dropout and disorder[J]. Neurocomputing, 2016, 179:211-218.
[9] TANG Z E, PARK J H, LEE T H. Dynamic output-feedback-based H_∞design for networked control systems with multipath packet dropouts[J]. Applied Mathematics and Computation, 2016, 275:121-133.
[10] SAKTHIVEL R, SANTRA S, MATHIYALAGAN K,ANTHONI S M. Observer-based control for switched networked control systems with missing data J]. International Journal of Machine Learning and Cybernatics, 2015, 6:677-686.
[11] HUA Chang-chun, YU Shao-chong, GUAN Xin-ping. A robust H_∞control approach for a class of networked control systems with sampling jitter and packet-dropout[J].International Journal of Control, Automation, and Systems,2014, 12(4):759-768.
[12] LI Zhi-jun, SUN De-hui, SHI Yun-tao, WANG Li-feng. A stabilizing model predictive control for networked control system with data packet dropout[J]. Journal of Control Theory and Applications, 2009, 7(3):281-284.
[13] GAO Shou-wan, TANG Gong-you. Stochastic optimal control of networked control systems with control packet dropouts[J]. Journal of Control Theory and Applications,2012, 10(3):410-414.
[14] LIAN Bo-sen, ZHANG Qing-ling, LI Jin-na. Sliding mode control for non-linear networked control systems subject to packet disordering via prediction method[J]. IET Control Theory Applications, 2017, 11(17):3079-3088.
[15] REN Li-tong, XIE Shou-sheng, MI AO Zhuo-guang, TIAN Hu-sen, PENG Jing-bo. Fuzzy robust sliding mode control of a class of uncertain systems[J]. Journal of Central South University, 2016, 23(9):2296-2304.
[16] XIONG Yuan-sheng, YU Li, YU Shi-ming. Sliding mode multiple steps predictive control for networked control systems[J]. Control Theory and Applications, 2005, 22(2):301-306.
[17] JIA Ting-gang, NIU Yu-gang, ZOU Yuan-yuan. Sliding mode control for stochastic systems subject to packet losses[J]. Information Sciences, 2012,217:117-126.
[18] CHEN Bei, NIU Yu-gang, ZOU Yuan-yuan. Sliding mode control for networked systems with markovian jumping parameters[C]//Proceedings of the 12th International Conference on Control, Automation, Robotics&Vision.Guangzhou:IEEE, 2012:1495-1500.
[19] ZHAN Xi-sheng, WU Jie, JIANG Tao, JIANG Xiao-wei.Optimal performance of networked control systems under the packet dropouts and channel noise[J]. ISA Transactions,2015, 58:214-221.
[20] CHEN Bei, NIU Yu-gang, ZOU Yuan-yuan. Sliding mode control for stochastic markovian jumping systems subject to successive packet losses[J]. Journal of the Franklin Institute,2015,351:2169-2184.
[21] GUAN Xin-ping, DAI Shuang-feng, LONG Cheng-nian.Controller design for networked control system with data packet dropout and transmission delays[J]. Journal of Control Theory and Applications, 2007, 5(3):227-232.
[22] HU Jun, WANG Zi-dong, GAO Hui-jun. Robust H_∞sliding mode control for discrete time-delay systems with stochastic nonlinearities[J]. Journal of the Franklin Institute, 2012, 349:1459-1479.
[23] KHANDEKAR A A, MALWATKAR G M, PATRE B M.Discrete sliding mode control for robust tracking of higher order delay time systems with experimental application[J].ISA Transactions, 2013, 52:36-44.
[2] YAN Jing-jing, XIA Yuan-qing. Quantized control for networked control systems with packet dropout and unknown disturbances[J]. Information Sciences, 2016, 354:86-100.
[3] PANG Zhong-hua, LIU Guo-ping, ZHOU Dong-hua, SUN De-hui. Data-based predictive control for networkednonlinear systems with packet dropout and measurement noise[J]. Journal of System Science and Complexity, 2017,30:1072-1083.
[4] SHEN Dong, ZHANG Chao, XU Yun. Two updating schemes of iterative learning control for networked control systems with random data dropouts[J]. Information Sciences,2017,381:352-370.
[5] JIANG Xiao-wei, ZHANG He-xian, GUAN Zhi-hong, YU Li, YAN Huai-cheng. Performance limitations of networked control systems with quantization and packet dropouts[J].ISA Transactions, 2017, 67:98-106.
[6] SONG Jiang-peng, ZHOU Di, SUN Guang-li, QI Zhi-hui.Robust control with compensation of adaptive model for dual-stage inertially stabilized platform[J]. Journal of Central South University, 2018, 25(11):2615-2625.
[7] YANG Hong-jiu, XU Yang, ZHANG Jin-hui. Event-driven control for networked control systems with quantization and markov packet losses[J]. IEEE Transactions on Cybernetics,2017, 47(8):2235-2243.
[8] CHEN Hai-fei, GAO Jin-feng, SHI Ting, LU Ren-quan. H_∞control for networked control systems with time delay, data packet dropout and disorder[J]. Neurocomputing, 2016, 179:211-218.
[9] TANG Z E, PARK J H, LEE T H. Dynamic output-feedback-based H_∞design for networked control systems with multipath packet dropouts[J]. Applied Mathematics and Computation, 2016, 275:121-133.
[10] SAKTHIVEL R, SANTRA S, MATHIYALAGAN K,ANTHONI S M. Observer-based control for switched networked control systems with missing data J]. International Journal of Machine Learning and Cybernatics, 2015, 6:677-686.
[11] HUA Chang-chun, YU Shao-chong, GUAN Xin-ping. A robust H_∞control approach for a class of networked control systems with sampling jitter and packet-dropout[J].International Journal of Control, Automation, and Systems,2014, 12(4):759-768.
[12] LI Zhi-jun, SUN De-hui, SHI Yun-tao, WANG Li-feng. A stabilizing model predictive control for networked control system with data packet dropout[J]. Journal of Control Theory and Applications, 2009, 7(3):281-284.
[13] GAO Shou-wan, TANG Gong-you. Stochastic optimal control of networked control systems with control packet dropouts[J]. Journal of Control Theory and Applications,2012, 10(3):410-414.
[14] LIAN Bo-sen, ZHANG Qing-ling, LI Jin-na. Sliding mode control for non-linear networked control systems subject to packet disordering via prediction method[J]. IET Control Theory Applications, 2017, 11(17):3079-3088.
[15] REN Li-tong, XIE Shou-sheng, MI AO Zhuo-guang, TIAN Hu-sen, PENG Jing-bo. Fuzzy robust sliding mode control of a class of uncertain systems[J]. Journal of Central South University, 2016, 23(9):2296-2304.
[16] XIONG Yuan-sheng, YU Li, YU Shi-ming. Sliding mode multiple steps predictive control for networked control systems[J]. Control Theory and Applications, 2005, 22(2):301-306.
[17] JIA Ting-gang, NIU Yu-gang, ZOU Yuan-yuan. Sliding mode control for stochastic systems subject to packet losses[J]. Information Sciences, 2012,217:117-126.
[18] CHEN Bei, NIU Yu-gang, ZOU Yuan-yuan. Sliding mode control for networked systems with markovian jumping parameters[C]//Proceedings of the 12th International Conference on Control, Automation, Robotics&Vision.Guangzhou:IEEE, 2012:1495-1500.
[19] ZHAN Xi-sheng, WU Jie, JIANG Tao, JIANG Xiao-wei.Optimal performance of networked control systems under the packet dropouts and channel noise[J]. ISA Transactions,2015, 58:214-221.
[20] CHEN Bei, NIU Yu-gang, ZOU Yuan-yuan. Sliding mode control for stochastic markovian jumping systems subject to successive packet losses[J]. Journal of the Franklin Institute,2015,351:2169-2184.
[21] GUAN Xin-ping, DAI Shuang-feng, LONG Cheng-nian.Controller design for networked control system with data packet dropout and transmission delays[J]. Journal of Control Theory and Applications, 2007, 5(3):227-232.
[22] HU Jun, WANG Zi-dong, GAO Hui-jun. Robust H_∞sliding mode control for discrete time-delay systems with stochastic nonlinearities[J]. Journal of the Franklin Institute, 2012, 349:1459-1479.
[23] KHANDEKAR A A, MALWATKAR G M, PATRE B M.Discrete sliding mode control for robust tracking of higher order delay time systems with experimental application[J].ISA Transactions, 2013, 52:36-44.