一类短时延网络控制系统的建模和控制方法

Modeling and Control Method of a Class of Networked Control Systems with Short Time-delay

针对不确定时延网络控制系统,提出一种新的建模方法。设传感器采用时间驱动,执行器与控制器采用事件驱动,传感器的数据采用单包传输,传输时延小于采样周期,将网络控制系统建模为具有不确定性的线性离散系统,证明了其标称系统的可控性。采用Lyapunov方法给出了闭环系统渐近稳定的充分条件,基于矩阵不等式的可行解给出了状态反馈控制律的参数化设计方法。仿真表明该文方法是有效的。

Considering the uncertain network induced delay, using state augmentation method, a discrete linear system model with uncertainties of networked control system is established under the assumption of time-driven sensor, event-driven actuator and controller, single data-packet transmission and transmission delay that is less than sample interval. The nominal model is proved controllable. Using Lyapunov approach, the sufficient condition of asymptotic stability is proposed, and parametric design method of state feedback control law is given based on the feasible solution of matrix inequality. Simulation results verifies the validity of the proposed method.