基于无线传感器网络的LQR输出反馈控制器设计

Design of the LQR Output Feedback Controller Based on the Wireless Sensor Networks

考虑一类基于无线传感器网络实现闭环的网络控制系统;分析了无线传感器网络中采用的多跳射频通讯技术对网络延时的影响,提出了一种基于客户机-服务器模型的LQR输出反馈控制策略,根据网络延时变化与数据包传递时所经历的跳数之间的关系,将闭环控制系统转化为一个切换控制系统,利用李亚普诺夫稳定性定理、线性矩阵不等式和切换控制系统理论等工具,推导了闭环控制系统的稳定性条件,给出了LQR输出反馈控制器的参数优化办法;实验结果表明了所提出控制算法的有效性。

This study analyzes multi--hopping radio frequency wireless communication technology and its effect on network--induced de-lay for a class of networked control system wherein the control loop are closed through wireless sensor networks, and proposes an LQR - output feedback control scheme based on a client - server architecture. According to the relationship between the changes of network--in- duced delay and the number of hops necessary for data packets to reach their destinations, the closed loop networked control system can be converted into the switched control system, then the stabilizing conditions of this close loop networked control system are derived and the parameter optimal procedure of the LQR output feedback controller is introduced through Lyapunov stability analysis theory, linear matrix ine- quality and switched control system theory respectively. The results of experiment show the effectiveness of the presented control algorithm.