具有任意有界丢包的网络控制系统的预测控制

Model predictive control for networked control systems with arbitrary and bounded packet loss

针对离散时间线性系统,研究了从传感器到控制器、从控制器到执行器都存在任意有界数据丢包时的网络控制系统的镇定问题。通过建立包含丢包所有可能性的扩展状态空间模型,将具有数据丢包的网络控制系统的镇定问题转化为同时镇定一系列模型的鲁棒控制问题。采用公共Lyapunov方法论证闭环系统的稳定性。通过将无穷时域控制作用参数化为一个自由控制作用加一个状态反馈控制律,提出了一种新的网络预测控制器设计方法。仿真实例说明了新方法的有效性。

For discrete-time linear systems, the stability of networked control, where arbitrary bounded packet loss occurs between the sensor and controller, and between the controller and actuator, is studied. By constructing the augmented state space model which characterizes all the possibilities of the packet loss, the stabilization of this system is transformed into the robust stabilization of a set of models. The Lyapunov method is applied for proving closed-loop stability. By parameterizing the infinite horizon control moves into one free control move followed by a state feedback law, a design approach to model predictive control （MPC） is proposed. A simulation example is given to illustrate the effectiveness of the proposed MPC.