摘要
由于NCS较传统点对点连接的控制系统,在规模、结构等方面更加庞大、复杂,各种不确定性和故障诱发因素也更多,一旦发生故障就有可能造成人员和财产的巨大损失,因此通过容错设计使NCS具有较高的安全可靠性,已经受到了广泛的关注。本文针对研究之初NCS容错控制成果中,受控对象以线性为主,控制策略大多采用状态反馈,结论主要为保守性较大的时滞不依赖的完整性设计等问题,研究了同时存在时变时延和丢包的不确定非线性NCS (NNCS)的鲁棒容错控制问题。总体概略如下：
1)针对同时存在时变时延和丢包的不确定NNCS,将丢包看做是一种特殊的时延,基于T-S模糊模型,在可能的执行器或传感器失效故障下,考虑状态变量可测时和不可测时2种情况,分别采用状态反馈和基于状态观测器的动态输出反馈控制策略,建立了不确定闭环故障NNCS的模型。特别是基于状态观测器的动态输出反馈控制的建模中,时延采用了更符合工程实际的分段处理方法,并分别考虑了分段时延的上下界,为后续少保守性结论的获得奠定了基础。
2)采用状态反馈控制策略,以时滞依赖的方法,通过构造适当的Lyapunov-Krasovskii泛函,综合应用自由权矩阵、积分不等式、交叉项界定、线性矩阵不等式等方法和技术,研究了不确定NNCS对执行器或传感器失效故障的鲁棒容错控制问题,得到了使不确定NNCS具有鲁棒完整性、鲁棒H。完整性、鲁棒保性能及鲁棒H∞保性能容错等少保守性的时滞依赖充分条件和控制器的优化设计方法,并对所得结论进行了有效性仿真验证和保守性比较研究。由于结论中包括了有关时延属性的所有信息,尤其是时延下界τm的引入,使得结论的保守性得以减少。另外,在分析中未进行模型变换,也未放大任何项和忽略有用项,而是借助Newton-Leibniz公式和积分不等式引入了较多自由权矩阵,使得求解的自由度变大,保守性也进一步减少。
3)采用基于状态观测器的动态输出反馈控制策略,首先应用类似前述状态反馈控制的研究方法,研究了不确定NNCS对执行器失效故障具有鲁棒完整性及鲁棒H∞完整性的容错控制问题。其次,考虑采用动态输出控制策略后对时延的分段处理,前述方法因过多自由权矩阵的引入会产生大量的决策变量导致计算更加复杂,进而在研究鲁棒保性能及鲁棒H∞保性能容错控制问题时,仅通过改进的Jensen不等式对交叉项进行了处理,并引入了时延信息的中间量α1和α2以适当降低矩阵维数。由于未通过Newton-Leibniz公式引入任何自由权矩阵,明显减少了由此带来的过多决策变量所引起的计算负担,以及过多决策变量优化而可能产生的保守性。通过上述研究,得到了使不确定NNCS具有鲁棒完整性、鲁棒H∞完整性、鲁棒保性能及鲁棒H∞保性能容错等少保守性的时滞依赖充分条件和控制器优化的设计方法,并对所得结论进行了有效性的仿真验证。文中,还就保守性及计算复杂度对2种方法进行了比较研究,结果表明后一方法在减少结论保守性和降低计算复杂度上更具优势,进而昭示出对提高不确定NNCS容错满意度的益处。
4)借助于兰州理工大学先进控制实验室的PCS平台,基于OPC等技术成功开发了虚拟NCS试验平台,并在此平台上对所有理论成果进行了工程可用性实验研究。结果表明构建的虚拟NCS试验平台运行可靠,所有理论结果正确、有效。由于该平台的灵活性,为复杂NCS的时延研究提供了便利。
总之,本文针对不确定NNCS所提出的一系列少保守性、高满意度、低复杂度的鲁棒容错控制器的设计方法,将成为提高NCS安全可靠性的重要途径。尤其是针对实际工程上状态变量可能不易全部获得的情形,将状态观测器、控制器、网络属性、故障等统一在T-S模糊模型框架下,进行的鲁棒容错控制研究,为NNCS的被动容错控制率先探求了行之有效的方法。
Compared with traditional systems where various components are usually connected via point-to-point cables, the NCS have large scale, complicated construction and more fault inducing factors. In the event of failure may cause the huge loss of personnel and property. Hence, NCS are increasingly received a extensive attention via design of fault-tolerant control to improve the safety and reliability of the system. Aiming at some problems for the existing achievements of NCS fault-tolerant control, such as controlled plant is mostly linear, system performance generally is integrity, state feedback control strategy is usually adopted, and the delay-independent conclusions are mostly large conservative, and so on, this paper addresses the problem of robust fault-tolerant control for nonlinear networked control systems (NNCS) with network-induced delay and packed dropout. Overall briefly as follows:
1) For a class of uncertain NNCS with network-induced delay and packed dropout, a T-S fuzzy model is employed to represent the nonlinear controlled plant. Considered the state variables are measurable and immeasurable respectively, the packed dropout as a special type of time-delay, state feedback and observer-based dynamic output feedback control strategy are used respectively to set up the closed loop failure model of nonlinear NCS against actuator or sensor failure. Especially, in the modeling of observer-based dynamic output feedback control strategy, delay section processing method is adopted, which more accord with the engineering practice, and the upper and lower bound of the time-delay are considered respectively. These have laid the foundation for subsequent less conservative result.
2) For a uncertain NNCS with time-varying delay and packet dropout, using the state feedback control strategy, by construct a proper Lyapunov-Krasovskii functional and employ the free weighting matrix, linear matrix inequalities, several integral inequality, etc., the less conservative delay-dependent sufficient conditions and controller design methods are reserved for system with robust integrity, robust H∞integrity, robust guaranteed cost and robust H∞guaranteed cost fault-tolerant performances against sensor or actuator failure. Moreover, effectiveness and conservative of all conclusions are comparatively studied. Due to considering all information of time delay property, especially the lower bound of the time-delay, less conservative results are obtained. In addition, Neither model transformation nor magnifying or ignoring useful items in the theoretical result derivation, but free weighting matrixes are introduced via Newton-Leibniz formula and integral inequality, which amplify degrees of freedom of solution, and conservative is further reduced.
3) For a uncertain NNCS with time-varying delay and packet dropout, we adopt observer-based dynamic output feedback control strategies when state variables are immeasurable. Firstly, used research method similar to that of the state feedback control, the problem of robust integrity and robust H∞integrity fault-tolerant control is investigated against actuator failure. Then considering complexity of the calculation which is caused by excessive free-weighting matrices due to segmentation process of time delay, we research the problem of robust guaranteed cost and robust H∞guaranteed cost fault-tolerant control via introducing the intermediate variables α1and α2of delay information to decrease matrix dimension and using Jensen inequality to process cross terms. Because any free-weighting matrix is not introduced, computational burden is decreased significantly and conservative which may be produced by optimization of excessive decision variables is avoided. Besides that, conservative and complexity are studied comparatively for two kinds of research methods in this paper. The result of the comparison show it is better on reduce conservative and lower computational complexity to the second method. And then benefit is flowed to improve the fault-tolerant satisfaction of uncertain NNCS.
4) Relying on PCS platform supplied by the advanced control laboratory of Lanzhou University of Technology, we develop successfully virtual NCS test platform based on OPC and other technologies. In this experimental platform, aforementioned theoretical achievements are carried on experiment research of engineering usability. Results show that it is reliable to build for the test platform and it is correct and effective for all theoretical results. Due to the flexibility of the platform, it provides the convenience for the study of the complex NCS.
In short, the results with little conservative, low computational complexity and high fault-tolerant satisfaction from the paper, will become the important way to improve safety of NCS. Especially, observer, controller, network properties and fault are unified under the T-S fuzzy model framework to study robust fault-tolerant control when state variables are immeasurable, which first to explore the effective methods for the passive fault-tolerant control of NNCS.
引文
[1]邱占芳,张庆灵,杨春雨.网络控制系统分析与控制[M].北京：科学出版社,2009.
[2]张云生,网络控制系统[M].重庆：重庆大学出版社,2003.
[3]乔维,薛楠.浅谈网络化控制系统[J].计算机光盘软件与应用,2012(9)：55-57.
[4]Antsaklis P,Baillieul J.Special Issue on Technology of Networked Control Systems [J].Proceedings of the IEEE,2007,95(1):5-8.
[5]Zurawski R. Special Issue on Industrial Communication Systems[J]. Proceedings of the IEEE,2005,93(6):1067-1072.
[6]Antsaklis P,Baillieul J.Special Issue on Networked Control Systems[J].IEEE Transactions on Automatic Control,2004,49(9):1241-1243.
[7]Zhang, W.,Branicky, M.,& Phillips,S.Stability of networked control systems[J]. IEEE Control Systems Magazine,2001,21:84-99.
[8]Walsh, G C.,Ye, H.,& Bushnell,L. Stability analysis of networked control systems [J].IEEE Transactions on Control Systems Technology,2002,10(3):438-446.
[9]Tipsuwan Y,Chow M Y. Control method ologies in networked control systems[J]. Control Engineer in Practiee,2003,11(10):1099-1111.
[10]Hokayem P F,Abdallah C T. Inherent issues in networked control systems:a survey [J].Proceedings of American Control Conferenee,Boston,Massachusetts,2004: 4897-4902.
[11]Wei Ling,Xue Ding-yu,E Da-zhi.Some Basic Issues in Networked Control Systems [J].IEEE Conference on Industrial Electronics and Applications,2007:2098-3012.
[12]康军,戴冠中.基于QoS的网络化控制系统H∞保性能控制[J].计算机应用研究,2010,21(7)：2730-2734.
[13]Jinna Li, Qingling Zhang, Haibin Yu, Min Cai.Real-time guaranteed cost control of MIMO networked control systems with packet disordering[J]. Journal of Process Control,21(2011):967-975.
[14]Yumiko Ishido,Kiyotsugu Takaba,Daniel E.Quevedo.Stability analysis of networked control systems subject to packet-dropouts and finite-level quantization[J]. Systems & Control Letters,60 (2011):325-332.
[15]Engang Tian, DongYue. A new state feedback H∞ control of networked control systems with time-varying network conditions[J]. Journal of the Franklin Institute, 349 (2012):891-914.
[16]Jufeng Wang, Chunfeng Liu, Huizhong Yang. Stability of a class of networked control systems with Markovian characterization[J].Applied Mathematical Modelling, 36(2012):3168-3175.
[17]周东华.容错控制理论及其应用[J].自动化学报,2000,11：789-790.
[18]方华京,方翌炜,杨方.网络化控制系统的故障诊断[J].系统工程与电子技术,2006,28(12)：1858-1862.
[19]Huajing Fang,Hao Ye,Maiying Zhong.Fault diagnosis of networked control system[J].6th IFAC Symposium on Fault Detection,Supervision and Safety of Technical Processes,2006:1-12.
[20]Huajing Fang,Hao Ye,Maiying Zhong.Fault diagnosis of networked control systems [J].Annual Reviews in Control,2007,31:55-68.
[21]Yang Chun-Xi,Guan Zhi-Hong,Huang Jian.Stochastic fault tolerant control of networked control systems[J]. Journal of the Franklin Institute,2009,346(10): 1006-1020.
[22]Ding, Steven X.A Survey of Fault-Tolerant Networked Control System Design Fault Detection, Supervision and Safety of Technical Processes[J].8th IFAC Proceedings Volumes,2012,8:874-885.
[23]霍志红.网络化控制系统故障诊断与容错控制[M].北京：中国水利水电出版社,2009.
[24]郑英,方华京.不确定网络化控制系统的鲁棒容错控制[J].西安交通大学学报,2004,38(8)：804-807.
[25]霍志红,方华京.一类随机时延网络控制系统的容错控制研究[J].信息与控制,2006,35(5)：584-587.
[26]吕明,吴晓蓓.具有数据包丢失的网络控制系统的容错控制[J].计算机工程与应用,2007,43(21)：134-136.
[27]郭一楠,张芹英,巩卫,张建化.一类时变时延网络控制系统的鲁棒容错控制[J].控制与决策,2008,(23)8：689-692.
[28]Wei Li,Huichao Cao,Erchao Li.Robust Guaranteed Cost Fault-Tolerant Control for Uncertain NCS with Fast Interval Time-Varying Delay[J].ICMA,2010,22-28.
[29]周川,吴益飞,陈庆伟.一类随机时延网络控制系统的神经网络自适应容错控制[J].Proceedings of the 30th Chinese Control Conference.2011,7:4217-4222.
[30]Min-Yue Zhao,He-Ping Liu,Zhi-Jun Li,De-Hui Sun. Fault tolerant control for networked control systems with packet loss and time delay[J].International Journal of Automation and Computing.2011,8(2):244-253.
[31]黄鹤,谢德晓,张登峰,王执铨.基于T-S模糊模型的网络控制系统鲁棒H∞容错控制[J].系统工程与电子技术,2010,32(6)：1292-1298.
[32]王君,李炜,李战明.不确定非线性NCS鲁棒H∞保性能容错设计[J].华中科技大学报(自然科学版),2011,39(9)：72-77.
[33]Feisheng Yang,Huaguang Zhang,Guotao Hui,Shenquan Wang.Mode-independent fuzzy fault-tolerant variable sampling stabilization of nonlinear networked systems with both time-varying and random delays[J].Fuzzy Sets and Systems. 2012,207(16):45-63.
[34]FENG Jian,WANG Shen-Quan.Reliable Fuzzy Control for a Class of Nonlinear Networked Control Systems with Time Delay[J].Acta Automatica Sinica.2012, 38(7):1091-1099.
[35]顾洪军.网络控制系统建模及性能分析方法的研究[D].北京：清华大学,2001.
[36]白涛,吴智铭,杨根科.网络化的控制系统[J].控制理论与应用,2004,21(4)：584-590.
[37]樊卫华,蔡骅,吴晓蓓,胡维礼.一类时延网络控制系统的H∞鲁棒控制[J].兵工学报,2006,27(1)：188-192.
[38]邱占芝,王庆利.网络化控制系统的时延特性的分析[J].沈阳工业大学学报,2005,27(1)：94-97.
[39]邱占芝,张庆灵,刘明.有时延和数据包丢失的网络化控制系统控制器设计[J].控制与决策,2006,21(6)：625-630.
[40]P Zhivoglyadov,R H Middleton. Networked control design for linear systems[J]. Automatica,.2003,39(4):743-750.
[41]Lanxiang Sun,Shouping Guan.A Uniform Modeling of Networked Control System With Random Delays[J].IEEE, JUNE,2006:4509-4512.
[42]Lei Xie,Jian-Ming Zhang,Shu-Qing Wang,Stability analysis of networked control system[J],Proceedings of the first international conference on Machine Learning and,Bejing,2002,11:757-759.
[43]J P Hespanha,P Naghshtabrizi,and Y Xu.A survey of recent results in networked control systems[J].Proc.IEEE,2007,95(1):138-162.
[44]邱占芝,张庆灵.一类不确定时延状态反馈网络化系统鲁棒稳定性[J].东北大学学报,2006,27(2)：131-132.
[45]张玉泉,钟秋海,王林.具有时滞和丢包的网络化控制系统稳定性分析[J].北京理工大学学报,2008,28(4)：329-333.
[46]谢德晓,韩笑冬,黄鹤.有数据包丢失的网络化控制系统H∞状态反馈控制[J].系统工程与电子技术,2009,31(3)：629-932.
[47]郭亚锋,李少远.网络化控制系统H∞状态反馈控制器设计[J].控制理论与应用,2008,25(3)：414-420.
[48]傅磊,戴冠中.一种网络化控制系统的鲁棒H∞动态输出反馈控制[J].控制与决策,2008,23(9)：968-975.
[49]霍志红,方华京.时变时延网络化控制系统的鲁棒稳定性[J].华中科技大学学报,2006,34(11)：74-76.
[50]Qixin Zhu,Hongli Liu,Shiming Chen,Shyousong Hu.Robust guaranteed cost control of networked control systems with time delay[J].IEEE,Chinese Control and Decision Conference,2008,6:1385-1389.
[51]S.Hu,Q Zhu.Stochastic optimal control and analysis of stability of networked control systems with long delay[J]. Automatica 39(2003):1877-1884.
[52]Yue D,Han Q L,Peng C.State feedback controller design of networked control systems[J].IEEE Transactions on Circuits and Systems,2004,51(11):640-644.
[53]Yue D,Han Q L,Lam J.Network-based robust control of systems with uncertainty [J].Automatica,2005,41:999-1007.
[54]Huijun Gao,Tongwen Chen,James Lam.A new delay system approach to network-based control[J].Automatica,2008(44):39-52.
[55]Chen Peng,Yu ChuTian.Networked H∞ control of linear systems with state quantization[J].Information Sciences.2007,177:5763-5774.
[56]Yang Shi, Bo Yu.Output Feedback Stabilization of Networked Control Systems With Random Delays Modeled by Markov Chains[J].IEEE TRANSACTIONS ON AUTOMATIC CONTROL,2009,54(7):1668-1674.
[57]Congzhi Huang, Yan Bai, Xiangjie Liu.H-Infinity State Feedback Control for a Class of Networked Cascade Control Systems With Uncertain Delay[J].IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2010,6(1):62-72.
[58]Liu G P,Mu J X,Rees D.Design and stability analysis of networked control systems with random communication time delay using the modified MPC[J]. International Journal of Control,2006(79):288-297.
[59]M.C.F. Donkers,W.P.M.H. Heemels,D. Bernardini,A. Bemporad, V.Shneer. Stability analysis of stochastic networked control systems [J]. Automatica 2012, 48:917-925.
[60]Ming Liu,Guanghui Sun.Observer-based sliding mode control for It o stochastic time-delay systems with limited capacity channel[J]. Journal of the Franklin Institute 2012,349:1602-1616.
[61]Kim D K,Park R G,Ko J W. Output-feedback H∞ control of systems over commu-nication networks using a deterministic switching system approach[J]. Automatica, 2004(40):1205-1212.
[62]Lin H,Antsaldis P J.Stability and persistent disturbance attenuation properties for a class of networked control systems:switched system approach[J]. International Journal of Control.2005,78(18):1447-1458.
[63]Wen-An Zhang,Li Yu.Modelling and control of networked control systems with both network-induced delay and packet-dropout[J].Automatica.2008,42(12):3206-3210.
[64]Huaguang Zhang,Jun Yang,Chun-Yi Su.T-S Fuzzy-Model-Based Robust H∞ Design for Networked Control Systems With Uncertainties[J].IEEE Transactions on Industrial Informatics.2007,4(3):289-301.
[65]Huaguang Zhang,Dedong Yang,Tianyou Chai.Guaranteed Cost Networked Control for T-S Fuzzy Systems With Time Delays[J].Systems, Man, and Cybernetics, Part C: Applications and Reviews,IEEE Transactions on 2007,37(2):160-172.
[66]Chen Peng,Tai Cheng Yang.Communication-Delay-Distribution-Dependent Net-worked Control for a Class of T-S Fuzzy Systems[J].Fuzzy Systems, IEEE Transactions on.2010,18(2):326-335.
[67]Jianbin Qiu,Gang Feng,Huijun Gao. Asynchronous Output-Feedback Control of Networked Nonlinear Systems With Multiple Packet Dropouts:T-S Fuzzy Affine Model-Based Approach[J]. Fuzzy Systems, IEEE Transactions on.2011,19(6): 1014-1030.
[68]Chai S C,Liu G E,Rees D.Design and practical implementation of internet-based predictive control of a servo system[J].IEEE Transactions on Control Systems Technology,2008,16(1):158-168.
[69]Xia, Y., Liu, G.P., Fu, M., Rees, D.. Predictive control of networked systems with random delay and data dropout[J].Control Theory & Applications, IET. 2009,3(11):1476-1486.
[70]Xu Lin, Lei Hong, Ru Jingyu. Research on predictive control of stochastic network-induced delay for Network Control Systems[J]. Control and Decision Conference (CCDC),2011 Chinese.2011:929-932.
[71]Patton R J. Robustness issues in fault tolerant control. Proc. of International Conference on fault Diagnosis,1993,Toulouse,France,1081-1117.
[72]Patton R J. Fault-tolerant control:the 1997 situation. Proc. of IFAC/IMACs Symposium on Fault Detection, Supervision and Safety for Technical Process. 1997, Hull, England,1033-1055.
[73]Chen Xueqin,Geng Yunhai,Zhang Yingchun,Wang Feng.Fault-tolerant control of linear uncertain system s using H∞ robust predictive control [J]. Journal of Systems Engineering and Electronics,2008,19(3):571-577.
[74]钱伟,刘娟,孙优贤.基于动态输出反馈的时滞系统鲁棒容错控制[J].解放军理工大学学报(自然科学版),2010,11(2)：172-177.
[75]顾洲,张建华,杜黎龙.一类具有间歇性执行器故障的时滞系统的容错控制[J].控制与决策,2011,26(12)：1829-1834.
[76]Yufei xu,Bin Jiang,Zhifeng Gao,Ke Zhang.Fault tolerant control for near space vehicle:a survey and some new results[J].Journal of Systems Engineering and Electronics,2011,22(1):88-94.
[77]杨冬梅,孙俊娜.不确定时滞线性离散系统的鲁棒容错控制[J].东北大学学报(自然科学版),2012,33(2)：161-164.
[78]陈雪芹,王峰,李冬柏,耿云海.一类时滞不确定系统鲁棒容错控制方法[J].哈尔滨工业大学学报,2012,44(9)：14-19.
[79]Xiaodong Han,Jiangong Liu,Dexiao Xie,Dengfeng Zhang,Zhiquan Wang.Robust H∞ guaranteed cost satisfactory fault-tolerant control for discrete-time systems with quadratic D stabilizability[J].2010,21(3):496-502.
[80]薄翠梅,王执铨,张广明,张登峰.一类多指标约束下模糊非线性系统的满意容错控制[J].控制与决策,2010,25(7)：998-1003.
[81]韩笑冬,刘建功,谢德晓,张登峰,王执铨.一类不确定关联系统的分散保性能满意容错控制[J].南京理工大学学报(自然科学版),2010,34(5)：636-641.
[82]Dengfeng Zhang, Baochun Lu,Hong Wang, Zhiquan Wang.Robust satisfactory fault-tolerant control of continuous-time interval systems with time-varying state and input del ays [J]. Optimal Control Applications and Methods,2012,33(5):531-551.
[83]Patton R J, Kambhampati C,Casavola A,et al.Fault-tolerance as a key requirement for the control of modern systems[J].The Int Federation of Automatic Control, 2006,6(1):26-36.
[84]郑英,方华京,王彦伟.时变时延网络化控制系统的容错控制[J].华中科技大学学报,2004,32(2)：35-37.
[85]Kong De-Ming,Fang Hua-Jing. Stable Fault-tolerance control for a class of networked control systems[J].ACTA Automatica Sinica,2005,31(2):268-273.
[86]Huo Z H, Fang H J. Fault-tolerant control research for networked control system under communication constraints[J].Acta Automatica Sinica,2006,32(5):659-666.
[87]Zhihong Huo, Yuan Zheng, Limin Zhang. Fault-tolerant Control Research on Networked Control Systems with Asynchronous Sampled Period[J]. Proceedings of the 7th World Congress on Intelligent Control and Automation,2008:4610-4613.
[88]Jun Ren,Chunwen Li,Dezong Zhao.Fault-tolerant Control of Networked Control System with Time-varying Transmission Times[J]. Machine Learning and Cybernetics,2007 International Conference on,2007,1:545-549.
[89]Zehui Mao,Bin liang.Fault-tolerant Control for MIMO Networked Control Syatems with Uncertainties[J].The Sixth World Congress on Intelligent Control and Auto-mation.2006,2:5488-5492.
[90]Huo Zhihong, Zhang Zhixue, Fang Huajing. Research on fault-tolerant control of networked control systems based on information scheduling[J]. Journal of Systems Engineering and Electronics.2008,19(5):1024-1028.
[91]Huo Zhihong,Fang Huajing.Research on robust fault-tolerant control for networked control system with packet dropout[J]. Journal of Systems Engineering and Electronics,2007,18(1):76-82.
[92]侯为萍.网络控制系统的鲁棒容错控制研究[D].南京理工大学,2008.6.
[93]黎煊,吴晓蓓,王玉龙,徐志良.时变采样周期网络化控制系统的鲁棒容错控制[J].控制与决策,2008,2(6)：689-692.
[94]Engang Tian, DongYue,Chen Peng. Reliable control for networked control systems with probabilistic actuator fault and random delays[J]. Journal of the Franklin Institute 2010(347):1907-1926.
[95]Dan Huang,Sing Kiong Nguang. Robust fault estimator design for uncertain networked control systems with random time delays:An ILMI approach[J]. Information Sciences,2010,180(1):465-480.
[96]ZHAO Ming-Yue,LIU He-Ping,LI Zhi-Jun,SUN De-Hui,LIU Ke-Ping.Fault Tolerant Control for Networked Control Systems with Access Constraints[J]. Acta Automatica Sinica.2012.38(7):1119-1126.
[97]王岩岩,刘伟,孔令志.数据包丢失的不确定奇摄动网络化容错控制[J].华东师范大学学报(自然科学版),2012,5：93-100.
[98]李炜,李亚洁.不确定网络化控制系统的保性能鲁棒容错控制[J].系统仿真学报,2007,21(23)：7544-7548.
[99]朱灵波,戴冠中,康军.具有传感器故障的网络化控制系统保性能可靠控制[J].控制与决策,2009,24(7)：1050-1054.
[100]黄鹤,韩笑冬,谢德晓,王执铨.网络控制系统的鲁棒H∞容错控制器设计[J].东南大学学报,2008.38(S)：185-189.
[101]谢德晓,张登峰,韩笑冬,王执铨.执行器故障情况下的网络控制系统H∞容错控 制[J].华中科技大学学报,2009,37(1)：18-22.
[102]李炜,申富媛.具有α-稳定的NCS鲁棒H∞容错设计[J].南京理工大学学报,2011,35(s)：1-6.
[103]李炜,王艳飞.基于状态多时延模型的NCS鲁棒H∞容错控制[J].系统仿真学报,2011,23(12)：2647-2653.
[104]李炜,曹慧超.区间时变时延NCS鲁棒H∞保性能容错控制[J].华中科技大学学报(自然科学版),2011,39(3)：105-110.
[105]李炜,王艳飞.少保守性网络化控制系统鲁棒保性能容错控制[J].兵工学报,2012,33(2)：170-178.
[106]李炜,王艳飞.一种少保守性的NCS鲁棒H∞保性能容错控制[J].控制与决策,2011,26(12)：1768-1776.
[107]郑英,王彦伟,方华京.基于T-S模型的网络化控制系统的鲁棒容错控制[J].华中科技大学学报(自然科学版),2008,36(3)：111-113.
[108]Yang Wang, Bin Jiang, Zehui Mao. Fault-tolerant Control Design for a kind of Nonlinear Networked Control System with Communication Constrains[J]. IEEE, 2009,9:896-901.
[109]Zhang jianjun. Fuzzy robust fault-tolerance control for networked control systems [J].The 7th International Conference on Computer Science & Education,2012,12 (5):1267-1270.
[110]李炜,蒋栋年.基于T-S模糊模型的非线性网络化控制系统的H∞鲁棒容错控制[J].控制与决策,2010,25(4)：598-609.
[111]Zuoyou Yin,Yunxia Kang,Xiaoheng Chang,Shuxian Lun.Robust H-infinity Fault Tolerant Control for a Class of Nonlinear networked control Systems Based on T-S Fuzzy Model[J].Proceedings of 24th Chinese Control and Decision Conference (CCDC),2012:2292-2296.
[112]王君,李炜,李战明.基于T-S模型的不确定非线性NCS鲁棒容错保性能设计[J].系统工程与电子技术,2011,33(10)：2288-2294.
[113]李炜,张健全,李亚洁.基于输出反馈的网络化控制系统鲁棒容错控制[J].兰州理工大学学报,2009,35(1)：71-76.
[114]S. Aberkane,J. C. Ponsart,D. Sauter. Output-feedback H2/H∞ control of a class of networked fault-tolerant control systems[J].Asian Journal of Control,2008,10(1): 34-44.
[115]李炜,王艳飞.动态输出反馈的少保守性NCS鲁棒容错控制[J].华中科技大学学报(自然科学版),2011,39(11)：80-86
[116]李炜,曹慧超,赵正天.不确定NCS动态输出反馈鲁棒H∞完整性设计[J].南京理 工大学学报,2011,35(SI)：40-45.
[117]Zehui Mao,Bing Jiang,Peng Shi.Observer-based fault-tolerant control for a class of networked control systems with transfer delays[J] Journal of The Franklin Institute,2011,348(4):763-776.
[118]Zehui Mao, Bin Jiang, Peng Shi.Observer based fault-tolerant control for a class of nonlinear networked control systems[J]. Journal of the Franklin Institute,2010,347 (6):940-956.
[119]李炜,蒋栋年,张建全.基于输出反馈网络化控制系统鲁棒容错控制[J].控制工程,2011,18(1)：62-66.
[120]李炜,罗伟,蒋栋年.基于动态输出反馈的非线性网络化控制系统容错控制[J].兰州理工大学学报,2012,38(1)：63-70.
[121]王燕锋,井元伟,张嗣瀛.基于观测器的非线性网络控制系统容错控制[J].控制理论与应用,2012,29(10)：1348-1352.
[122]王君,李炜,李战明.基于状态观测器的NNCS H∞完整性设计[J].江南大学学报(自然科学版),2012,11(4)：442-452.
[123]孙健,陈杰,刘国平.时滞系统稳定性分析与应用[M].北京：科学出版社,2012.
[124]Q L Han.A descriptor system approach to robust stability of uncertain neutral systems with discrete and distributed delays[J].Autoamtica.2004,01(40):1791-1976.
[125]W Chen,W Zheng.On improved robust stabilization of uncertain systerns with unknown input delay[J].Automatica.2006,01(42):1067-1072.
[126]吴敏,何勇.时滞系统鲁棒控制-自由权矩阵方法[M],北京：科学出版社,2008.
[127]M Wu,J H She,G P Liu.Delay-dependent robust stability criteria for uncertain neutral systems with mixed delays[J]. Systems&Control Letters.2004,51:57-65.
[128]D Yue, Q L Han.Delayed feedback control of uncertain systems with time-varying input delay[J].Automatica.2005,01(41):233-240.
[129]X M Zhang,M Wu,J H She,Y He.Delay-dependent stabilization of linear systems with time-varying state and input delays[J].Automatica.2005,01(41):1405-1412.
[130]X J Jing,D L Tan, Y C. Wang. An LMI approach to stability of systems with severe time-delay[J].IEEE Transactions on Automatic Control,2004,01(49): 1190-1195.
[131]Y S Lee,Y S Moon,W H Kwon,P G Park.Delay-dependent robust H∞ control for uncertain systems with a state delay[J].Automatica,2004,01(40):65-72.
[132]Huijun Gao, Junli Wu, Peng Shi. Robust sampled-data H∞ control with stochastic sampling[J].Automatica 2009,45:1729-1736.
[133]Yong He, Qing-Guo Wang, Chong Lin, Min Wu. Augmented Lyapunov functional and delay-dependent stability criteria for neutral systems[J].Int. J. Robust Nonlinear Control 2005,15:923-933.
[134]O.M. Kwon, M.J. Park, S.M. Lee, Ju H. Park. Augmented Lyapunov-Krasovskii functional approaches to robust stability criteria for uncertain Takagi-Sugeno fuzzy systems with time-varying delays[J].Fuzzy Sets and Systems,2012,201: 1-19.
[135]M.N.Alpaslan Parlakc. On Roubust Stability of Uncertain Neutral Systems:A Novel Augmented Lyapunov Functional [J]. IEEE Conference on Decision& Control.2006:13-15.
[136]李涛,张合新,孙鹏.含区间时变时滞的线性不确定系统鲁棒稳定性新判据[J].控制与决策,2010,25(6)：953-957.
[137]Y. He, G.P. Liu, D. Rees.Augmented Lyapunov functional for the calculation of stability interval for time-varying delay[J].IET Control Theory Appl., January 2007,1(1):381-386.
[138]吴敏,冯智勇,何勇.基于增广Lyapunov泛函的Lurie时滞系统的绝对稳定性[J].自动化学报,2008,34(8)：1003-1007.
[139]Jian Sun, G.P.Liu, Jie Chen, D. Rees. Improved delay-range-dependent stability criteria for linear systems with time-varying delays[J].IEEE Trans.on Automatic Control,2010,46:466-470.
[140]Engang Tian, Dong Yue, Zhou Gu. Robust H∞ control for nonlinear systems over network:A pricewise analysis method[J]. Fuzzy Sets and Systems.2010, 161:2731-2745.
[141]P.Balasubramaniam, G.Nagamani. A delay decomposition approach to delay-dependent robust passive control for Takagi-Sugeno fuzzy nonlinear systems[J]. Circuits Syst Signal Process,2012,31:1319-1342.
[142]Min Kook Song,Jin Bae Park, Young Hoon Joo.A delay partitioning approach to approach delay-range-dependent stability analysis of fuzzy systems[J]. Internantional journal of control, Automatica and systems,2012,10(1):143-149.
[143]Chen Peng, Minrui Fei. An improved result on stability of uncertain T-S fuzzy systems with interval time-varying delay[J].Fuzzy Sets and Systems,2012,3(4): 1-13.
[144]Li Li, Xiaodong Liu, Tianyou Chai. New approaches on H∞, control of T-S fuzzy systems with interval time-varying delay[J].Fuzzy Sets and Systems,2009,160: 1669-1688.
[145]PooGyeon Park, Jeong Wan Ko,Changki Jeong. Reciprocally convex approach to stability of systems with time-varying delays[J]. Automatica,2011,47:235-238.
[146]Cheng Wang,Yi Shen.Improved delay-dependent robust stability criteria for uncertain time delay systems[J]. Applied Mathematics and Computation.2011,3:1-9.
[147]Chen Peng, Qinglong Han.Delay-range-dependent robust stabilizations for uncertain T-S fuzzy control systems with interval time-varying delays[J]. Infor-mation Sciences,2011,181:4287-4299.
[148]Wang H O,Tanaka K,Griffin M.Parallel Distributed Compensation ofNonlinear Systems by Takagi.Sugeno Fuzzy model[J]. IEEE International Conference on Fuzzy Systems,1995,2:531-538.
[149]佟绍成,王涛,王艳平,唐涧涛.模糊控制系统的设计及稳定性分析[M].北京：国防工业出版社,2004.
[150]周东华,叶银忠.现代故障诊断与容错控制[M].北京：清华大学出版社,2000
[151]T.Takagi, M.Sugeno, Fuzzy identification of systems and its applications to modeling to modeling and control[J], IEEE Trans.Systems Man Cybern.1985, 15(1):116-132.
[152]张嗣瀛,高立群.现代控制理论[M].北京：清华大学出版社,2006.
[153]俞立.鲁棒控制-线性矩阵不等式处理方法[M].北京：清华大学出版社,2002.
[154]梅生伟,申铁龙,刘康志.现代鲁棒控制理论与应用[M].北京：清华大学出版社,2003.
[155]王德进.H∞和H∞优化控制理论[M].哈尔滨：哈尔滨工业大学出版社,2001.
[156]Wang Y X, Xie L, de Souza E. Robust control of uncertain nonlinear systems [J].Systems and Control Letters,1992,19(2):139-149.
[157]Chung-Shi Tseng, Bor-Sen Chen,Yen-Fang Li. Robust fuzzy observer-based fuzzy control design for nonlinear systems with persistent bounded disturbances: A novel decoupled approach[J].Fuzzy Sets and Systems.2009(160):2824-2843.
[158]HAN Q L,JIANG X F,MA X.Computation of delay bound for linear neutral systems with interval time-varying discrete[J].Dynnamics of Continuous, Discrete and implusive,2006,13:117-131.
[159]Hongyan Chu,Shumin Fei,Dong Yue,Chen Peng,Jitao Sun.H∞ quantized control for nonlinear networked control systems[J].Fuzzy Sets and Systems,2011,1174: 99-113.
[160]Tanaka K,Ikeda T,Wang H O.Robust stabilization of a class of uncertain nonlinear systems via fuzzy control:quadratic stabilizability H∞ control theory and linear matrix inequalities[J].IEEE Transactions on fuzzy systems,1996,4(1):1-13.
[161]蒋栋年.具有丢包和时延的非线性NCS鲁棒容错控制研究[D].兰州理工大学,2010,6.
[162]Li Wei,Cao Huichao,Wang Jun.Robust fault-tolerant control for uncertain NCS based on dynamic output feedback[J].International Conference on Measuring Tech-nology and Mechatronics Automation 2011,1:179-186.
[163]Chong Lin, Zidong Wang, Fuwen Yang. Observer-based networked control for con-tinuous-time systems with random sensor delays[J]. Automatica 2009 (45):578-584
[164]Jian Guo Li, Jing Qi Yuan, Jun Guo Lu. Observer-based H∞ control for networked nonlinear systems with random packet losses[J]. ISA Transactions2010 (49):39-46.