网络控制系统信道调度和控制器协同设计

Channel scheduling and controller co-design of networked control systems

以网络控制系统为研究对象,讨论信道受限和丢包对系统性能的影响.假设在任意采样时刻只有部分系统可以接入信道,且系统在进行数据传输时会发生丢包现象.首先,将丢包过程描述为独立的伯努利过程,根据每个系统的信道接入状态,建立系统的切换模型;然后,利用平均驻留时间技术,得到系统指数均方稳定的充分条件以及信道的可调度条件;最后,根据以上结果,给出系统信道调度策略和控制器的协同设计算法,使得系统镇定的同时具有理想的衰减率.

The effect of bandwidth constraint and packet dropout on system performance of networked control systems is discussed. It is assumed that at each sampling time, only a part of plants can gain access to the channel and packet dropout may happen during transmission. Firstly, by modeling the packet dropout as independent Bernoulli process, a switching system control model is built based on the channel access status of each plant. Then, by using average dwell time technique, sufficient conditions for the exponential mean square stability and schedulability requirements of the channel are obtained. Finally, based on the above results, a co-design framework for channel access scheduling and controller design is derived, which can guarantee the stabilization of the whole set of plants with the desired decay rate of each plant.