带有时延和丢包的变增益网络化预测控制

Variable gain networked predictive control with time delays and packets loss

本文研究了带有时变时延和丢包的网络化控制系统变增益预测控制器设计问题。通过切换系统理论得到了闭环系统渐近稳定的充分条件并得到了一组非线性矩阵不等式。考虑到非线性矩阵不等式难以求解,采用锥补线性化的方法将非线性矩阵不等式转化为线性矩阵不等式。通过求解一组带约束的优化问题,可以得到在约束条件下对不同时延情况都满足控制系统稳定的参数,从而得到了变增益预测控制方案下的控制器参数来补偿网络中的时延和丢包。最后通过仿真实例验证了所设计方案的有效性。

In this paper,a variable gain predictive controller design problem is investigated for a networked control system with time delays and packets loss.By switched system theory,a sufficient condition on asymptotic stability is obtained for the closed-loop networked control system and a set of nonlinear matrix inequalities is also shown.For the reason that it is difficult to solve the nonlinear matrix inequalities,a cone complementarity linearization method is used to transform the nonlinear matrix inequalities into linear matrix inequalities.By solving a set of constrained optimization problems,some parameters are obtained under different constraints for different time delay conditions.Moreover,controller parameters under the variable gain predictive control scheme are also obtained to compensate the time delays and packets loss in the networked control system.Finally,effectiveness of the designed scheme is verified by a simulation example.