随机丢包时延网络控制系统动态输出反馈控制

Dynamic output feedback control of networked control systems with random packet dropouts and time delays

针对传感器与控制器、控制器与执行器之间具有随机丢包和时延的网络控制系统,研究统一建模及动态输出反馈控制问题.采用多个马尔可夫链分别描述前向通道和反馈通道的随机丢包与时延过程,将闭环网络控制系统建模成具有多个模态的马尔可夫随机跳变系统.利用增广矩阵技术和李雅普诺夫方法得到闭环系统随机稳定的充分条件,给出动态输出反馈控制器的设计方法.通过倒立摆系统验证动态反馈控制的有效性.

Unified modeling and dynamic output feedback control are considered for a class of networked control systems （ NCSs） with random sensor-to-controller （ S-C） and controller-to-actuator （ C-A） packet dropouts and time delays. The packet dropouts and time delays in forward channels and feedback channels are modeled as multiple Markov chains and the closed-loop NCS is modeled as a Markovian jump linear system with multiple Markov chains. Based on the augmenting matrix technique and Lyapunov method, a sufficient condition is derived for the stochastic stability of the closed-loop NCS, and a design procedure is presented for the dynamic output feedback controller. The inverted pendulum system illustrates the effectiveness of the proposed method.