一类非线性网络化系统的基于观测器的控制

Observer-based control for a class of nonlinear networked control systems

在传感器和控制器之间存在数据包丢失的情况下,被控对象的状态不完全能直接测得时,研究了一类被控对象为带有非线性摄动的网络化控制系统.把网络看成开关,网络正常通信时对应的子系统和网络丢包时对应的子系统之间相互切换形成一个切换系统,进而将这类系统建模为一类切换系统模型.基于驻留时间的思想,通过Lyapunov稳定性理论,建立了基于观测器的状态反馈控制器的网络化系统指数稳定性的充分条件,利用线性矩阵不等式(LM I,LinearMatrix Inequality)的可行解给出了观测器和控制器的参数化方法.数值例子验证了所得结果的有效性.

Considering the data packet dropout between sensor and controller, when some states of the object cannot be measured directly, a class of networked control systems （NCSs） with nonlinear perturbing terms in the plant was investigated. There is a network between the sensor and controller. The network was considered as a switch, which happened between sub-system when network communication was connected and sub-system when network communication was interrupted. So the NCS could be modeled as a switched system. Motivated by dwell-time idea, some sufficient conditions of exponential stability of NCS were established by Lyapunov stability theory. Utilizing the solutions of linear matrix inequalities （LMIs） , the parameterized expression method of the state observer and controller was given which could ensure the NCS exponential stability. A numerical example was shown to demonstrate the efficiency of the obtained result.