基于量化依赖Lyapunov函数的时变时延网络控制系统的鲁棒控制

Robust control of networked control systems with time-varying delay based on quantitatively-dependent Lyapunov function

针对具有时变时延的网络控制系统,研究了基于量化反馈的鲁棒控制问题。考虑在传感器与控制器之间加入对数量化器,在网络环境下,系统的网络诱导时延小于一个采样周期,传感器为时钟驱动,控制器与执行器均是事件驱动,利用广义增广矩阵方法建立包含时延和量化信息的新的网络控制系统模型。在系统的稳定性分析中采用了一种新的依赖于量化误差的Lyapunov函数,与普通的二次型Lyapunov函数相比具有较低的保守性,运用李雅普诺夫原理并结合线性矩阵不等式方法,给出系统稳定性的充分条件和鲁棒控制器的设计方法。最后的Matlab仿真算例验证了所提方法的有效性。

For the network control system with time-varying delay,the robust control problem based on quantized feedback is studied.Adding a logarithmic quantizer between the sensor and the controller is considered.In the general network environment,the network induced delayin the system is less than a sampling period,the sensor is triggered by the clock,and the controller and the actuator are both triggered by events.The matrix method is used to establish a new network control system model,including time delay and quantization information.A new Lyapunov function with the quantization error is used for the stability analysis of the system,which is more competitive than the ordinary quadratic Lyapunov function.The low conservatism,using the Lyapunov principle,combined with the linear matrix inequality method,gives sufficient conditions for the system stability and a design method for quantized feedback robust controllers.The final Matlab simulation example verifies the effectiveness of the proposed method.