具有控制约束的网络控制系统的鲁棒H_∞控制

Robust H_∞ Control of Networked Control Systems with Control Constraints

针对具有控制约束的网络控制系统(Networked Control Systems,NCS)的特点,建立了具有外部扰动的网络控制系统模型,对其H∞性能加以分析和研究,并验证所取得的理论成果。假设具有控制约束的网络控制系统的H∞控制器与执行器均为事件驱动,传感器为时间驱动,且网络诱导时延小于传感器的采样周期,然后将此类网络控制系统的广义被控对象建模为一类线性离散系统,运用Lyapunov函数和线性矩阵不等式(LMI),导出闭环系统渐近稳定且满足给定H∞性能指标的充分条件,并给出了控制器的具体求法。得到了系统的H∞控制器存在条件及具体方法,通过设计该控制器,使具有外部扰动的网络控制系统的性能有很大的改善,通过Matlab仿真证明该控制器行之有效。

To the characteristic of the networked control systems （NCS） with control input constraints, the model for NCS with finite disturbance is established, and the H∞ property of the model is analyzed . The controller and actuator of the NCS with control input constraints are event driven, and the sensor node is time driven. The network induced delay is less than the sampling period. Then the generalized plant is modeled as linear discrete system. Based on Lyapunov function and linear matrix inequality （LMI） , a sufficient condition for NCS with the asymptotic stability and H∞ performance is derived, and the design approach of the controller is given. After applying the H∞ controller to the NCS, the performance of the closed-loop system is improved. The simulation results show the validity of the proposed controller.