非线性系统的网络化控制研究

Study on networked control of nonlinear systems

针对一类单输入-单输出仿射非线性系统的网络化控制问题,基于微分几何理论,采用精确线性化方法将非线性系统变换为线性系统;对于网络时滞小于一个采样周期且在小范围随机变化的网络控制系统,将其建模为不确定离散时滞系统,基于线性矩阵不等式设计控制器。文中给出了设计方法和步骤,通过一个仿真算例,证明了方法的正确性。

Aiming at a class of affine nonlinear system of single input-stogie output, tne nonlinear systems are transformed into equivalent linear systems through an exact linearizing method based on the differential geometry theory. The networked control systems whose the delays are shorter than a sampling period and is sto- chastically changeable in a limited range are modeled as discrete systems with uncertain parameters. Therefore, the controller of the NCS can be designed by a linear matrix inequalities method. The design method and steps are presented in the paper. Last, the simulation results illustrate the accuracy of the proposed method with an example.