不确定时延和数据包丢失的网络化控制系统研究
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摘要
网络化控制系统的分析与综合是近年来国际控制领域研究的前沿课题之一,不同于传统的计算机控制,网络环境的影响使得网络化控制系统具有许多新的特征,直接用传统的控制理论已无法设计出有效的控制策略,因此需要针对其特点设计出新的研究思路和研究手段。网络控制系统中传感器信息及控制量均通过网络传输,由于信息采用分时复用的方式传输,不可避免地存在网络时延,该时延通常是时变、不确定的。同时,网络传输的不可靠性,导致数据包在传输过程中可能发生丢失,使得控制器输入和控制量均无法及时更新,影响系统的性能,严重时将导致系统失稳。因此,数据包丢失和时变时延是网络控制系统必须解决的问题,研究网络化控制系统的鲁棒控制具有重要的理论和实际价值。本文主要从时域角度研究几种不确定时滞网络化控制系统的鲁棒稳定性及其控制器和滤波器的设计方法。
研究了一类带有线性分式不确定和数据包丢失的离散模糊网络化系统的量化控制问题。采用合适的Lyapunov-Krasovskii模糊泛函,考虑了网络环境中的数据丢包和时滞,得到一个满足H_∞性能指标的稳定性判据和鲁棒模糊状态反馈控制器,用锥形补方法解决了出现的非线性问题,所得结果具有更小的保守性。最后,用数值算例说明了所得结论的有效性和实用性。
研究了量化状态和输出信号的离散网络化控制系统的稳定性问题,通过在Delta域内构造合适的Lyapunov泛函,得到一个新的稳定性判据,并得到一个满足H_∞性能指标的状态反馈控制器。所得结果以线性矩阵不等式给出,便于利用Matlab线性矩阵不等式工具箱进行系统仿真。最后用数值算例说明了所得到的方法的可行性。
研究了带马尔可夫跳变参数的不确定网络化控制系统的H_∞滤波问题,并考虑信号在网络传输中,传感器和滤波器之间存在时滞,引入满足跳变系统的随机算子并应用Lyapunov泛函方法,得到了跳变滤波误差系统鲁棒稳定的一个线性矩阵不等式条件,进一步给出滤波参数的具体解法。数值算例说明所得结论的有效性和可行性。
The analysis and synthesis of Network control systems is one of the main themes in the field of international control research in recent years.Different from the traditional computer controlled,the environmental impact of the network makes network control system has a lot of new features.The direct use of traditional control theory has been unable to design a effective control strategy.So,it is necessary to design new research ideas and research tools based on its characteristics.
Both the sensor and control information transmission through the network in Network control systems.Because of information transmission in the way of time-sharing multiplexing,there inevitable exists network latency.The delay is usually time-varying, uncertain.At the same time,the unreliability of network transmission,resulting in data packets loss may occur during transmission,which make the controller and the input not be able to update,impact the performance of the system.The system will lead to serious instability.Therefore,packets loss and time-varying delay of network control system must be addressed.The study of robust control of networked control systems has important theoretical and practical value.In this paper,we mainly investigate robust stability, controller and filter design of several network-based control of uncertain time-delay system from the view of time-domain.The organization of this dissertation is as follows:
In chapter two,based on some new fuzzy Lyapunov-Krasovskill functional method and LMI technique,the problem of robust H_∞state feedback control for uncertain fuzzy network control system with quantizer is considered.Considering data packet loss in network environment,a new fuzzy state feedback controller is designed such that resulting closed-loop fuzzy networked control system with time delays is robustly asymptotically stable and satisfies a prescribed H_∞performance level,which is in terms of linear matrix inequalities which can be solved numerically using Matlab Control Toobox.
In chapter three,we considered the problem of stability of Delta network-based control system with status and output quantization.The aim is to design state feedback controller which guarantees H_∞performance.Through the suitable Lyapunov functionals in Delta region,we get a new stability criterion.All results are presented in terms of linear matrix inequalities(LMIs) form.Numerical examples are given to illustrate the feasibility and effectiveness of the developed technique.
In chapter four.the problem of both robust H_∞filtering and networked control system with Markovian jump parameters and packets lost is considered.A wider class of parameter uncertainties than norm-bounded parameter uncertainties is described in this model.Sufficient conditions for the filter to satisfy prescribed H＿∞performance are given in terms of LMIs,which can stabilize the system and guarantee a prescribed H_∞performance on attenuation of all admissible parameter uncertainties.A numerical example is given to illustrate the feasibility and effectiveness of the developed technique.
研究了一类带有线性分式不确定和数据包丢失的离散模糊网络化系统的量化控制问题。采用合适的Lyapunov-Krasovskii模糊泛函,考虑了网络环境中的数据丢包和时滞,得到一个满足H_∞性能指标的稳定性判据和鲁棒模糊状态反馈控制器,用锥形补方法解决了出现的非线性问题,所得结果具有更小的保守性。最后,用数值算例说明了所得结论的有效性和实用性。
研究了量化状态和输出信号的离散网络化控制系统的稳定性问题,通过在Delta域内构造合适的Lyapunov泛函,得到一个新的稳定性判据,并得到一个满足H_∞性能指标的状态反馈控制器。所得结果以线性矩阵不等式给出,便于利用Matlab线性矩阵不等式工具箱进行系统仿真。最后用数值算例说明了所得到的方法的可行性。
研究了带马尔可夫跳变参数的不确定网络化控制系统的H_∞滤波问题,并考虑信号在网络传输中,传感器和滤波器之间存在时滞,引入满足跳变系统的随机算子并应用Lyapunov泛函方法,得到了跳变滤波误差系统鲁棒稳定的一个线性矩阵不等式条件,进一步给出滤波参数的具体解法。数值算例说明所得结论的有效性和可行性。
The analysis and synthesis of Network control systems is one of the main themes in the field of international control research in recent years.Different from the traditional computer controlled,the environmental impact of the network makes network control system has a lot of new features.The direct use of traditional control theory has been unable to design a effective control strategy.So,it is necessary to design new research ideas and research tools based on its characteristics.
Both the sensor and control information transmission through the network in Network control systems.Because of information transmission in the way of time-sharing multiplexing,there inevitable exists network latency.The delay is usually time-varying, uncertain.At the same time,the unreliability of network transmission,resulting in data packets loss may occur during transmission,which make the controller and the input not be able to update,impact the performance of the system.The system will lead to serious instability.Therefore,packets loss and time-varying delay of network control system must be addressed.The study of robust control of networked control systems has important theoretical and practical value.In this paper,we mainly investigate robust stability, controller and filter design of several network-based control of uncertain time-delay system from the view of time-domain.The organization of this dissertation is as follows:
In chapter two,based on some new fuzzy Lyapunov-Krasovskill functional method and LMI technique,the problem of robust H_∞state feedback control for uncertain fuzzy network control system with quantizer is considered.Considering data packet loss in network environment,a new fuzzy state feedback controller is designed such that resulting closed-loop fuzzy networked control system with time delays is robustly asymptotically stable and satisfies a prescribed H_∞performance level,which is in terms of linear matrix inequalities which can be solved numerically using Matlab Control Toobox.
In chapter three,we considered the problem of stability of Delta network-based control system with status and output quantization.The aim is to design state feedback controller which guarantees H_∞performance.Through the suitable Lyapunov functionals in Delta region,we get a new stability criterion.All results are presented in terms of linear matrix inequalities(LMIs) form.Numerical examples are given to illustrate the feasibility and effectiveness of the developed technique.
In chapter four.the problem of both robust H_∞filtering and networked control system with Markovian jump parameters and packets lost is considered.A wider class of parameter uncertainties than norm-bounded parameter uncertainties is described in this model.Sufficient conditions for the filter to satisfy prescribed H＿∞performance are given in terms of LMIs,which can stabilize the system and guarantee a prescribed H_∞performance on attenuation of all admissible parameter uncertainties.A numerical example is given to illustrate the feasibility and effectiveness of the developed technique.
引文
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[2] Y. HALEVI, A. RAY, Integrated Communication and Control Systems: Parti Analysis. ASME Journal of Dynamic Systems, Measurement and Control, 1988, 110 (4): 367-373
[3] A. RAY, Y. HALEVI, Integrated Communication and Control Systems: PartⅡ Design Considerations, ASME Journal of Dynamic Systems, Measurementand Control, 1988,110 (4): 374-381
[4] J. NILSSON, Real Time Control Systems with Delays.Sweden: Ph.D.Dissertation, Lund, 1998
[5] G. C. GOODWIN, J. C. AGUERO, A. FEUER, State Estimation for Systems Having Random Measurement Delay susing error sin variables. Barcelona: The 15th Triennial World Congress,2002
[6] A. RAY, L. W. LIOU, J. H. SHEN, State Estimation Using Randomly Delayed Measurements. ASME Journal of Dynamic Systems, Measurement and Control, 1993, 115 (1): 19-26
[8] O. BELDIMAN, G. C. WALSH, L. BUSHNELL. Predictors Fornet Worked Control Systems. Chicago: The American Control Conference, 2000
[9] M. J. GRIMBLE, LQG Controllers for Discrete Time Multivariable Systems with Different Transport Delay Sinsignal Channels. IEE Proceedings: Control Theory and Applications, 1998, 145 (5): 449-462
[10] M. J. GRIMBLE, G. HEARNS, LQG Controllers for State-Space Systems with Pure Transport Delays: Application Tohot Stripmills. Automatica, 1998, 34 (10): 1169-1184
[11] B. MAPINESCU, H. BOURLES, Robust State-Predictive Control with Separation Property: A Reduced-State Design for Control Systems with Non-equal Time-Delays. Automatica, 2000, 36 (4): 555-562
[12] R. BROCKETT, Stabilization of Motor Networks. NewOrleans: The 34th Conference on Decision & Control, 1995
[13] D. HRISTU, Stabilization of LTI Systems with Communication, Chicago: Ameriaca Control Conference, 2000
[14] W. S. WONG, R. W. BROCKETT, Systems with Finite Communication Bandwidth Constrain-ts-Part: State Estimation Problems. IEEE Transactions on Automatic Control, 1997, 42 (9): 1294-1299
[15] W. S. WONG, R. W. BROCKETT, Systems with Finite Communication Bandwidth Constrain-ts-Part: stabilization with limited information feedback. IEEE Transactions on Automatic Control,1999,44(5):107921053
[16]S.TATIKONDA,A.SAHAI,Mitter S.Control of LQG Systems under Communication Constraints.Tampa:The IEEE Conference on Decision and Control,1998
[17]于之训,陈辉堂,王月娟.具有随机通讯延迟和噪声干扰的网络控制系统.控制与决策,2000,15(5):518-522
[18]于之训,陈辉堂.王月娟.具有Markov延迟特性的网络控制系统研究.控制理论与应用,2002.19:263-267
[19]W.ZHEN,C.H.LI,J,Y.XIE.Improved Control Sscheme with Online Delay Evaluation Fornet worked Control Systems.Shanghai:The 4th World Congress on Intelligent Control and Automation.2002
[20]S.S.HU,Q.X.ZHU,Stochastic Optimal Control and Analysis of Stability of Networked Control Systems with Long Delay.Automation,2003,39(11):1877-1884
[21]朱其新.胡寿松.网络控制系统的分析与建模.信息与控制,2003,32(1):5-8
[22]王飞跃,王成红.基于网络控制的若干基本问题的思考和分析.自动化学报,2002,28:171-176
[23]Y.ZHENG,H.J.FANG,H.WANG,Fault Detection Approach for Networked Control Systems Based on Memories Reduced-order Observer.ACTA Automation Sinica,2003,29(4):559-566
[24]J.HUANG,Z.H.GUAN,Z.D.WANG,Stability of Networked Control Systems Based on Model of Discrete-time Interval System with Uncertain Delay.Dynamics of Continuous,Discreteand Impulsive Systems Series B:Applications&Algorithms,2004,11(suppl):35-44
[25]L.MONTESTRUQUE,P.ANTSAKLIS,On the Model-based Control of Networked Systems.Automatica,2003,39:1837-1843
[26]W.ZHANG,M.S.BRANICKY,S.M.PHILLIPS,Stability of Networked Control Systems.IEEE Control Systems Magazine,2001,21:84-99
[27]J.NILSSON,B.BERNHARDSSON,B.WITTENMARK,Stochastic Analysis and Control of Real-time Systems with Random Time Delays.Automatica,1998,34:57-64
[28]P.ZHIVOGLYADOV,R.MIDDLETON,Neworked Control Design for Linear Systems.Automatica,2003,39:743-750
[29]R.BROCKETT,D.LIBERZON,Quantized Feedback Stabilization of Linear Systems.IEEE Transactions on Automatic Control,2000,45:1279-1289
[30]M.Y.FU,L XIE,The Sector Bound Approach to Quantized Feedback Control.IEEE Transactions on Automatic Control,2005,50:1698-1711
[31]D.YUE,C.PENG,G.Y.TANG,Guaranteed Cost Control of Linear Systems over Networks with State and Input Quantizations.IEE Proceedings:Control Theory,and Applications,2006, 153:658-664
[32]D.LIBERZON,Hybrid Feedback Stabilization of Systems with Quantized Signals.Automatic,2003,39:1543-1554
[33]D.LIBERZON,On Stabilization of Linear Systems with Limited Information.IEEE Transac-tions on Automatic Control.2003.48:304-307
[34]D.D.Yang,H.G.Zhang,Robust H_∞.Networked Control for Uncertain Fuzzy,Systems with Time-delay.Acta Autamatica Sinica,2007.33(7):726-730
[35]V.L.KHARITONOV.A.P.ZHABKO.Robust Stability of Time Delay,Systems.IEEE Transactions on Automatic Control.1994,39(12):2388-2397
[36]S.BOYD,L.E.GHAOUI,E.FERON,et al.Linear Matrix Inequalities in Svstems and Control Theory.Philadelphia:SIAM Studies in Applied Mathematics.1994
[37]L.EL GHAOUI.S.NICULESCU.Advances in Linear Matrix Inequality Methods in Control.Philadelphia:SIAM Studies in Applied Mathematics,2000
[37]俞立.鲁棒控制-线性矩阵不等式处理方法.北京:清华大学出版社.2002
[38]Z.XIANG.Q.CHEN,R,ZHANG,Robust stability,analysis and control for fuzzy systems with uncertainies using the Delta operator.Control and Decision.2003 18(6):720-723
[39]X.JIANG.Q.HAN.X.YU,Stability Criteria for Linear Discerte-time Systems with Interval-like Time-varying Delay.American Control Conference.Portland,OR,USA,June,2005:2817-2822
[40]B.R.BARMISH,Necessary and Sufficient Conditions for Quadratic Stability of an Uncertain System.Journal of Optimal Theory Apply.2004.46(12):2147-2152
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