离散网络化控制系统的鲁棒H∞控制

On the robust H∞ control of discrete networked control systems

提出了一种新的建模方式研究同时含有时变延时以及数据包丢失的离散网络化控制系统的鲁棒H∞控制问题。引入自由权矩阵并结合Lyapunov-Krasovskii方法推导出使得网络化控制系统鲁棒渐近稳定并满足具有H∞扰动衰减度γ的充分条件,自由权矩阵的引入可以很大程度上降低用传统固定权矩阵来分析网络化控制系统所带来的保守性。由于条件中非线性项的存在,利用锥补线性化的方法将其转化为基于线性矩阵不等式的非线性最小化的问题,并分别给出了求解最大延时以及次优γ的算法。仿真算例说明了本文建模方式的有效性和优越性。

A new approach to model discrete networked control systems with both time-varying delay and packet loss is presented for the analysis of robust H∞ control.Sufficient conditions to asymptotically stabilize the system and satisfy the H-infinity disturbance attenuation γ are derived by free-weighting matrices method and Lyapunov-Krasovskii functional.Compared with existing fixed-weighting matrices method in analyzing networked control systems,the introduction of free-weighting matrices greatly reduces the conservatism.Due to the existence of nonlinear terms in the conditions,cone complementarity linearization algorithm is used to change the case into the problem of nonlinear minimization based on linear matrix inequalities.Using this algorithm to solve the maximum delay and the suboptimal solution of γ is presented.A numerical example is given to illustrate the effectiveness and superiority of the proposed approach.