具有时变时延网络控制系统的H_∞控制器设计
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摘要
在考虑含有外界噪声输入的情况下,研究了一类具有时滞网络控制系统的H∞控制问题。在网络环境中,将含时变时延的网络控制系统建模成一类受时变参数影响的闭环离散时间系统,基于Lyapunov理论和线形矩阵不等式(LMI)方法,提出了此类系统H∞控制器的设计方法。该H∞控制器能有效地提高网络控制系统的鲁棒性,并保证系统渐进稳定。通过仿真方法证明了该方法的有效性。
The problem of H∞control of delayed networked control systems with outside disturbance is discussed. Based on the network transmission environment,the networked control system with time variant delay is firstly modeled as a closed loop discrete-time system with time variant parameters. Then,based on Lyapunov stability theory and linear matrix inequality( LMI) approach,the design of H∞controller is proposed,which helps to enhance the robustness of NCS and renders it be asymptotically stable. Finally,the validity of the method is proved by simulation.
The problem of H∞control of delayed networked control systems with outside disturbance is discussed. Based on the network transmission environment,the networked control system with time variant delay is firstly modeled as a closed loop discrete-time system with time variant parameters. Then,based on Lyapunov stability theory and linear matrix inequality( LMI) approach,the design of H∞controller is proposed,which helps to enhance the robustness of NCS and renders it be asymptotically stable. Finally,the validity of the method is proved by simulation.
引文
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[2]MA C,SHI P,ZHAO X,et al.Consensus of Euler-Lagrange systems networked by sampled-data information with probabilistic time delays[J].IEEE transactions on cybernetics,2015,45(6):1126-1133.
[3]WANG Z,YANG F,HO D W C,et al.Robust H∞control for networked systems with random packet losses[J].IEEE Transactions on Systems,Man,and Cybernetics,Part B,2007,37(4):916-924.
[4]LUCK R,RAY A.An observer-based compensator for distributed delays[J].Automatica,1990,26(5):903-908.
[5]GAO H,CHEN T,LAM J.A new delay system approach to network2based control[J].Automatica,2008,44(1):39-52.
[6]LIU G P,REES D.Stability criteria of networked predictive control systems with random network delay[C]//Proceedings of the 44th IEEE Conference on Decision and Control.Seville,Spain:IEEE,2005:203-208.
[7]郑英,方华京,谢林柏,等.具有随机时延的网络化控制系统基于等价空间的故障诊断[J].信息与控制,2003,32(2):155-159.
[8]ZHANG L,HRISTU-VARSAKELIS D.Communication and cont rol co-design for networked control systems[J].Automatica,2006,42(6):953-958.
[9]樊卫华,蔡骅,陈庆伟,等.时延网络控制系统的稳定性[J].控制理论与应用,2004,21(6):33-37.
[10]谢成祥,樊卫华,胡维礼.一类短时延网络控制系统的建模和控制方法[J].南京理工大学学报(自然科学版),2009,33(2):156-160.
[11]薛东国,陈博,张文安,等.通信受限下网络化多传感器系统的Kalman融合估计[J].自动化学报,2015,41(1):203-208.
[12]李庆奎,李梅,贾新春.具有Markov跳变参数的闭环供应链系统切换控制[J].自动化学报,2015,41(12):2081-2091.
[13]詹习生,吴杰,关治洪,等.基于丢包和带宽限制网络化系统稳定性分析[J].控制理论与应用,2014,31(8):1111-1115.
[14]王昭磊,王青,董朝阳,等.存在未知时延和Markov丢包的网络控制系统故障检测与优化[J].控制与决策,2014,29(9):1537-1544.
[15]ZHU Q,LU K,ZHU Y.Observer-based feedback control of networked control systems with delays and packet dropouts[J].Journal of Dynamic Systems,Measurement,and Control,2016,138(2):2-11.
[16]KARIMI H R,GAO H.New delay-dependent exponential H∞synchronization for uncertain neural networks with mixed time delays[J].IEEE Transactions on Systems,Man,and Cybernetics,Part B:Cybernetics,2010,40(1):173-185.
[17]ZHU Q,LU K,ZHU Y.H∞guaranteed cost control for networked control systems under scheduling policy based on predicted error[J].Mathematical Problems in Engineering,2014,23:1-14.
[18]韦庆阳,樊春霞,顾瑜.带有通信噪声的随机时延复杂动态网络的H∞控制[J].应用科学学报,2014,32(6):639-644.
[19]陈惠英,李祖欣,王培良.具有时变采样周期和时延的NCS的H∞控制[J].中国自动化学会控制理论专业委员会(B卷),2011:1-5.