一类远程控制系统的时延补偿H∞鲁棒控制

H∞ Robust Control of a Class of Remote Control Systems with Time-delay Compensation

针对一类有扰动的多时延不确定模型的远程控制系统,为了有效减少网络时延对系统的影响,提出了一种改进Smith补偿H∞鲁棒控制算法;在给出系统体系结构的基础上,应用改进Smith补偿器将含有网络时延的系统鲁棒性能问题转化为无时延的鲁棒性能问题,并对系统存在的模型不确定性和干扰问题引入H∞混合灵敏度设计方法设计了鲁棒控制器;此方法适用于工业现场为无线传感器网络的远程控制系统,通过对存在乘积性的不确定系统进行仿真研究,证明该算法具有良好的控制品质和动态性能。

Contraposing a class of uncertain multi--delay model of remote control systems with disturbances, this paper proposed a new kind of H∞ robust control algorithm based on improved Smith compensation, which can reduce the impact of network time--delay over the system effectively. Based on giving the system architecture, the improved Smith compensator transformed system＇s robust performance problem with time--delay into the problem without time--delay, and a H∞ mixed sensitivity design method is introduced to design the robust controller for the system with model uncertainty and disturbance. This method is suitable for remote control system of the industry scene, which is a kind of wireless sensor networks, the product uncertain system is researched by simulation, it has been proved that the algorithm has good control quality and dynamic performance.