一类不确定性非线性网络控制系统的扰动抑制

Disturbance rejection for a class of uncertain nonlinear networked control systems

研究受外部持续扰动的一类不确定性非线性网络控制系统的扰动抑制问题.提出一种状态变量代换,将控制时滞转移到闭环控制回路之外,从而消除了时滞部分对控制系统稳定性的影响.利用内模原理给出了系统无静差扰动抑制补偿器的设计方法,运用Lyapunov稳定性理论和线性矩阵不等式技术,证明了保成本控制律的存在条件,并给出了无静差保成本控制器的设计方法.仿真结果验证了该控制算法的有效性.

This paper considers the disturbance rejection problem for a class of uncertain nonlinear networked control systems affected by additive persistent disturbances. We present a state variable substitution which transfers the control time-delay to the outside of control closed-loop such that the impact of time-delay part to control system stability is eliminated. An approach to design zero steady state error disturbance rejection compensator is proposed by using the internal model principle. The Lyapunov stability theory and linear matrix inequality technology are employed to testify the existence conditions of guaranteed cost control law and design a zero steady-state error guaranteed cost control strategy. Simulation results show the effectiveness of the proposed control algorithm.