具有随机通讯时延的远程网络控制系统基于观测器的H∞控制

H∞ Controller Design Based on Observer for Remote NCS with Random Communication Delay

本文主要针对一类具有随机通讯时延的由N个线性离散子系统构成的远程网络控制系统,设计基于观测器的鲁棒H∞控制器。假设状态变量不可测量且系统中数据通讯时延服从Bernoulli概率分布,通过利用Lyapounv稳定性理论和线性矩阵不等式技巧,得到使闭环系统均方指数稳定且满足指定H∞性能指标的充分条件,进而可以通过求解线性矩阵不等式得到基于观测器的控制器的相关增益矩阵。最后,通过MATLAB仿真结果验证该控制算法的有效性。

This paper is concerned with a class of linear discrete-time large-scale systems which are modeled as interconnection of N subsystems. The design of observer-based controller is studied. Assuming the state of close-loop system cannot be measured and the occurrence of measurement data delays is a Bernoulli distributed sequence with known probability. Sufifcient conditions are derived in terms of LMI for the existence of the observer-based controller, which can make closed-loop system exponentially stable in the sense of mean square and achieve the prescribed H∞performance. The parameters of observers and controllers are obtained by solving the LMI. The simulation results show the effectiveness of the controllers algorithm.