一类不确定网络化控制系统的H_∞鲁棒完整性设计

Robust H_∞ completeness design for a class of uncertain networked control systems

研究一类具有参数不确定性网络化控制系统的H∞鲁棒容错控制问题.基于网络化控制系统的时延模型,考虑参数不确定性以及未知扰动对系统的影响,将时延的不确定性转换为系统状态方程系数矩阵不确定性,应用Lyapunov稳定性理论和LMI方法,采用状态反馈控制策略,推证出了保证闭环网络化控制系统在执行器或传感器发生失效故障时仍渐近稳定,且满足给定H∞扰动抑制性能指标的充分条件,并以求解线性矩阵不等式组方便地得到了容错控制器的设计方法,最后用仿真算例验证了此方法的可行性和有效性.

The problem of robust H∞ fault-tolerant control in a class of networked control systems with uncertain parameters was investigated.The uncertainty of time delay was converted to that of the parameter matrix in system state equation,and in order to eliminate the effect of the asynchronism the states are transformed to the augmented states.Based on Lyapunov stability theory and LMI method,a sufficient condition was derived with state feedback control strategy for closed-loop networked control system which would be asymptotically stable and fulfill the given performance indexes of H∞ disturbance restraint even in the case of fault in its actuators or transducers.Besides,the design approach of fault-tolerant controller was conveniently obtained by means of solution of linear matrix inequality set.Finally,the feasibility and effectiveness of this method were verified with an illustrative simulation.