含时延的网络控制系统的H_∞保性能控制器设计
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摘要
本文综合考虑外界噪声输入和网络诱导时延的影响,研究了网络控制系统的H_∞保性能控制问题。基于网络传输环境,首先将含时变时延的网络控制系统建模成一类带有时变参数的闭环离散系统。接着,使用Lyapunov理论,推导了H_∞保性能指标存在的条件,并采用线性矩阵不等式(LMI)原理,提出了H_∞保性能控制器的设计方法。最后,通过仿真实验表明,该H_∞保性能控制器能有效地提高网络控制系统的鲁棒性,并能维持系统的保性能指标,从而证明了此方法的有效性和可行性。
Considering the influence of external noise input and network induced delay,the H_∞guaranteed cost control of networked control systems is studied.Based on the network transmission environment,the networked control system with time-vary and delay is modeled as a kind of closed loop discrete system with time varying parameters.Then,using the Lyapunov theory,the conditions for the existence of guaranteed performance indexes of H ∞ are derived.Based on the principle of linear matrix inequality(LMI),the design method of guaranteed cost controller H_∞is proposed.Finally,the simulation results show that the guaranteed cost controller H ∞can effectively improve the robustness of the network control system,and can maintain the performance index of the system.The validity and feasibility of this method are then proved.
Considering the influence of external noise input and network induced delay,the H_∞guaranteed cost control of networked control systems is studied.Based on the network transmission environment,the networked control system with time-vary and delay is modeled as a kind of closed loop discrete system with time varying parameters.Then,using the Lyapunov theory,the conditions for the existence of guaranteed performance indexes of H ∞ are derived.Based on the principle of linear matrix inequality(LMI),the design method of guaranteed cost controller H_∞is proposed.Finally,the simulation results show that the guaranteed cost controller H ∞can effectively improve the robustness of the network control system,and can maintain the performance index of the system.The validity and feasibility of this method are then proved.
引文
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[13]朱其新,卢开红,朱永红,等.具有马尔科夫分布时延网络控制系统的保性能控制器设计[J].航天控制,2014,32(4):3-7.
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[2]MA Chao,SHI Peng,ZHAO Xudong,et al.Consensus of euler-lagrange wystems networked by sampled-data information with probabilistic time delays[J].IEEE Transactions on Cybernetics,2015,45(6):1126-1133.DOI:10.1109/TCYB.2014.2345735.
[3]WANG Zidong,YANG Fuwen,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:Cybernetics,2007,37(4):916-924.DOI:10.1109/TSMCB.2007.896412.
[4]GAO Huijun,CHEN Tongwen,LAM J.A new delay system approach to network-based control[J].Automatica,2008,44(1):39-52.DOI:10.1016/j.automatica.2007.04.020.
[5]LUCK R,RAY A.An observer-based compensator for distributed delays[J].Automatica,1990,26(5):903-908.DOI:10.1016/0005-1098(90)90007-5.
[6]LIU G P,REES D.Stability criteria of networked predictive control systems with random network delay[C]//Proc of the 44th IEEE Conf on Decision and Control,and the European Control Conf.Piscataway,NJ:IEEE Press,2005:203-208.DOI:10.1109/CDC.2005.1582155.
[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.DOI:10.13976/j.cnki.xk.2003.02.013.
[8]ZHANG Lei,HRISTU-VARSAKELIS D.Communication and control co-design for networked control systems[J].Automatica,2006,42(6):953-958.DOI:10.1016/j.automatica.2006.01.022.
[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):880-884.
[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.DOI:10.14177/j.cnki.32-1397n.2009.02.024.
[11]KARIMI H R,GAO Huijun.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.DOI:10.1109/TSMCB.2009.2024408.
[12]邱占芝,张庆灵,刘明.不确定时延输出反馈网络化系统保性能控制[J].控制理论与应用,2007,24(2):274-278.
[13]朱其新,卢开红,朱永红,等.具有马尔科夫分布时延网络控制系统的保性能控制器设计[J].航天控制,2014,32(4):3-7.
[14]杜浩藩,丛爽.基于MATLAB小波去噪方法的研究[J].计算机仿真,2003,20(7):119-122.
[15]徐庚保,曾莲芝.计算机网络和网络控制系统的仿真研究[J].计算机仿真,2010,27(2):140-144,319.