一类具有数据包丢失的网络控制系统的最优控制

Optimal control for a class of networked control systems with data packet dropout

针对控制器和执行器均采用时钟驱动且最大丢包率和最大连续丢包长度被限定的短时延网络控制系统,提出一种数据包丢失的估值补偿方法.该方法可以根据历史状态向量和控制向量信息估算出当前的控制量.利用该方法和动态规划算法,导出了离散二次型性能指标下的网络控制系统的最优控制序列,进而给出最优控制律的实现算法.数值仿真算例验证了所得结果的有效性和正确性.

For the short delay networked control systems with clock-driven controller and actuator, under the situation that the maximum probability and successive length of data packet dropout are restricted, a data packet dropout value- estimated compensating method is presented. This method can evaluate the current control vector according to historical state vector and control vector information. The optimal control sequence based on discrete quadratic criteria is derived by using the method and dynamic programming algorithm. Furthermore, an implementation algorithm of the optimal control law is given. A numeric example illustrates the effectiveness and the correctness of the results.