Optimal full-order filtering for discrete-time systems with random measurement delays and multiple packet dropouts

This paper is concerned with the estimation problem for discrete-time stochastic linear systems with possible single unit delay and multiple packet dropouts. Based on a proposed uncertain model in data transmission, an optimal full-order filter for the state of the system is presented, which is shown to be of the form of employing the received outputs at the current and last time instants. The solution to the optimal filter is given in terms of a Riccati difference equation governed by two binary random variables. The optimal filter is reduced to the standard Kalman filter when there are no random delays and packet dropouts. The steady-state filter is also investigated. A sufficient condition for the existence of the steady-state filter is given. The asymptotic stability of the optimal filter is analyzed.

Fault detection for networked systems subject to access constraints and packet dropouts

This paper addresses the problem of fault detection（FD） for networked systems with access constraints and packet dropouts.Two independent Markov chains are used to describe the sequences of channels which are available for communication at an instant and the packet dropout process,respectively.Performance indexes H∞ and H_ are introduced to describe the robustness of residual against external disturbances and sensitivity of residual to faults,respectively.By using a mode-dependent fault detection filter（FDF） as residual generator,the addressed FD problem is converted into an auxiliary filter design problem with the above index constraints.A sufficient condition for the existence of the FDF is derived in terms of certain linear matrix inequalities（LMIs）.When these LMIs are feasible,the explicit expression of the desired FDF can also be characterized.A numerical example is exploited to show the usefulness of the proposed results.

Observer-based H-infinity control in multiple channel networked control systems with random packet dropouts

This paper investigates the observer-based H-infinity control problem for networked control systems （NCSs） with random packet dropouts. A general packet dropout model with multiple independent stochastic variables in the multiple channels case is adopted to describe the data missing in the limited communication channels. With the consideration of the sensor-to-controller and controller-to-actuator packet dropouts at the same time, a new method is pro- posed based on a separation lemma to design an observer-based H-infinity controller, which exponentially stabilizes the closed-loop system in the sense of mean square and also achieves a prescribed H-infinity disturbance attenuation level. A numerical example is given to illustrate the effectiveness of the proposed control method.

Impulsive controller design for nonlinear networked control systems with time delay and packet dropouts

The globally exponential stability of nonlinear impul- sive networked control systems （NINCS） with time delay and packet dropouts is investigated. By applying Lyapunov function theory, sufficient conditions on the global exponential stability are derived by introducing a comparison system and estimating the corresponding Cauchy matrix. An impulsive controller is explicitly designed to achieve exponential stability and ensure state con- verge with a given decay rate for the system. The Lorenz oscillator system is presented as a numerical example to illustrate the theo- retical results and effectiveness of the proposed controller design procedure.

Fault Detection for Uncertain Delta Operator Systems with Two-Channel Packet Dropouts via a Switched Systems Approach

This paper utilizes a switched systems approach to deal with the problem of fault detectio for uncertain delta operator networked control system with packet dropouts and timevarying delays.Uncertainties exist in the matrices of the systems and are norm-bounded time-varying.Two parts of packet dropouts are considered in this paper:From sensors to controllers,and from controllers to actuators.Two independent Bernoulli distributed white sequences are introduced to account for packet dropouts.Then an FD filter is designed under an arbitrary switching law.Furthermore,the sufficient conditions for the NCSs under consideration that are exponentially stable in the mean-square sense and satisfy H∞performance are obtained in terms of linear matrix inequalitie,multiple Lyapunov function and average dwell-tim approach.The explicit expression of the desired filter parameters is given.Finally,a numerical example verifies the effectiveness of the proposed method.

Optimal fusion state estimator for a multi-sensor system subject to multiple packet dropouts

In this note,we study the state estimation problem for a multi-sensor system subject to multiple packet dropouts.A novel optimal distributed fusion estimator is derived by applying a resending mechanism and a parallel information filtering structure.It is shown that the proposed distributed fusion estimator has smaller estimation error covariance and less computation complexity when compared with the centralised Kalman like estimator with multiple intermittent measurements.

Stochastic optimal control of networked control systems with control packet dropouts

This paper considers the stochastic optimal control problem for networked control systems （NCSs） with control packet dropouts. The proportional plus up to the third-order derivative （PD3） compensation strategy is adopted to compensate for control packet dropouts at the actuator by using the past control packets stored in the buffer. Based onthe strategy, a new NCS structure model with packet dropouts is provided, where the packet dropout is assumed to obey the Bernoulli random binary distribution. In terms of the given model, the stochastic optimal control law is proposed. Numerical examples illustrate the effectiveness of the results.

Research on robust fault-tolerant control for networked control system with packet dropout

A kind of networked control system with network-induced delay and packet dropout, modeled on asynchronous dynamical systems was tested, and the integrity design of the networked control system with sensors failures and actuators failures was analyzed using hybrid systems technique based on the robust fault-tolerant control theory. The parametric expression of controller is given based on the feasible solution of linear matrix inequality. The simulation results are provided on the basis of detailed theoretical analysis, which further demonstrate the validity of the proposed schema.

Guaranteed Cost Active Fault-tolerant Control of Networked Control System with Packet Dropout and Transmission Delay

The problem of guaranteed cost active fault-tolerant controller （AFTC） design for networked control systems （NCSs） with both packet dropout and transmission delay is studied in this paper. Considering the packet dropout and transmission delay, a piecewise constant controller is adopted. With a guaranteed cost function, optimal controllers whose number is equal to the number of actuators are designed, and the design process is formulated as a convex optimal problem that can be solved by existing software. The control strategy is proposed as follows： when actuator failures appear, the fault detection and isolation unit sends out the information to the controller choosing strategy, and then the optimal stabilizing controller with the smallest guaranteed cost value is chosen. Two illustrative examples are given to demonstrate the effectiveness of the proposed approach. By comparing with the existing methods, it can be seen that our method has a better performance.

Research on robust mean square stability of networked control systems with packet dropout

This paper is concerned with the robust stabilization problem of networked control systems with stochastic packet dropouts and uncertain parameters. Considering the stochastic packet dropout occuring in two channels between the sensor and the controller, and between the controller and the actuator, networked control systems are modeled as the Markovian jump linear system with four operation modes. Based on this model, the necessary and sufficient conditions for the mean square stability of the deterministic networked control systems and uncertain networked control systems are given by using the theory of the Markovian jump linear system, and corresponding controller design procedures are proposed via the cone complementarity linearization method. Finally, the numerical example and simulations are given to illustrate the effectiveness of the proposed results.

Fixed-Time Output Consensus Tracking for High-Order Multi-Agent Systems With Directed Network Topology and Packet Dropout

This paper studies the problem of fixed-time output consensus tracking for high-order multi-agent systems(MASs)with directed network topology with consideration of data packet dropout.First,a predictive compensation based distributed observer is presented to compensate for packet dropout and estimate the leader’s states.Next,stability analysis is conducted to prove fixed time convergence of the developed distributed observer.Then,adaptive fixed-time dynamic surface control is designed to counteract mismatched disturbances introduced by observation error,and stabilize the tracking error system within a fixed time,which overcomes explosion of complexity problem and singularity problem.Finally,simulation results are provided to verify the effectiveness and superiority of the consensus tracking strategy proposed.The contribution of this paper is to provide a fixed-time distributed observer design method for high-order MAS under directed graph subject to packet dropout,and a novel fixed-time control strategy which can handle mismatched disturbances and overcome explosion of complexity and singularity problem.

Fault detection observer design for networked control system with long time-delays and data packet dropout

Focusing on the networked control system with long time-delays and data packet dropout,the problem of observerbased fault detection of the system is studied.According to conditions of data arrival of the controller,the state observers of the system are designed to detect faults when they occur in the system.When the system is normal,the observers system is modeled as an uncertain switched system.Based on the model,stability condition of the whole system is given.When conditions are satisfied,the system is asymptotically stable.When a fault occurs,the observers residual can change rapidly to detect the fault.A numerical example shows the effectiveness of the proposed method.

H_∞-based fault detection for nonlinear networked systems with random packet dropout and probabilistic interval delay

The fault detection problem for the nonlinear networked control system （NCS） with packet dropout and delay is investigated. A nonlinear stochastic system model is proposed to account for the NCS with random packet dropout and network- induced non-uniformly distributed time-varying delay in both from sensor to controller （S/C） and from controller to actuator （C/A）. Based on the obtained NCS model, employing an observer-based fault detection filter as the residual generator, the addressed fault detection problem is converted into an auxiliary nonlinear H∞ control problem. Then, with the help of Lyapunov functional approach, a sufficient condition for the desired fault detection filter is constructed in terms of certain linear matrix inequalities, which depend on not only the delay interval but also the delay interval occurrence rate and successful packet communication rate. Especially, a trade-off phenomenon between the maximum allowable delay bound and successful data packet transmission rate is found, which is typically resulted from the limited bandwidth of communication networks. The effectiveness of the proposed method is demonstrated by a simulation example.

Controller design for networked control system with data packet dropout and transmission delays

In this paper, the stabilization problem for a class of networked control systems （NCSs） with data packet dropouts and transmission time delays is considered, where the delays are time-varying and uncertain, the data packet dropout is modeled as a two-state Markov chain. To compensate the lost packet, a data packet dropout compensator is established. Thus a more realistic model for such NCSs is presented. Sufficient conditions for the stabilization of the new resulting system are derived in the form of linear matrix inequalities （LMIs）. Numerical example illustrates the solvability and effectiveness of the results.

Packet-loss-dependent stabilization of NCSs with network-induced delay and packet dropout

This paper is concerned with controller design of net- worked control systems （NCSs） with both network-induced delay and arbitrary packet dropout. By using a packet-loss-dependent Lyapunov function, sufficient conditions for state/output feedback stabilization and corresponding control laws are derived via a switched system approach. Different from the existing results, the proposed stabilizing controllers design is dependent on the packet loss occurring in the last two transmission intervals due to the network-induced delay. The cone complementary lineara- tion （CCL） methodology is used to solve the non-convex feasibility problem by formulating it into an optimization problem subject to linear matrix inequality （LMI） constraints. Numerical examples and simulations are worked out to demonstrate the effectiveness and validity of the proposed techniques.

Stabilization for nonlinear systems via a limited capacity communication channel with data packet dropout

This paper addresses the stabilization problem for a class of nonlinear systems. It is assumed that the controller can only receive the transmitted sequence of finite coded signals via a limited digital communication channel. Both state and output feedback coder-decoder-controller procedures are proposed. Stabilization conditions involving the size of coding alphabet, the sampling period, system state growth rate and data packet dropout rate are obtained. Finally, an example is given to illustrate the design procedures and effectiveness of the proposed results.

Study on Robust H_∞ Filtering in Networked Environments

This paper is concerned with the robust H ∞ filter problem for networked environments, which are subject to both transmission delay and packet dropouts randomly. By employing random series which have Bernoulli distributions taking value of 0 or 1, the data transmission model is obtained. Based on state augmentation and stochastic theory, the sufficient condition for robust stability with H ∞ constraints is derived for the filtering error system. The robust filter is designed in terms of feasibility of one certain linear matrix inequality （LMI）, which is formed by adopting matrix congruence transformations. A numerical example is given to show the effectiveness of the proposed filtering method.

Modeling and Control for Wireless Networked Control System

In this paper, the stabilization problem is considered for the class of wireless networked control systems （WNCS）. An indicator is introduced in the WNCS model. The packet drop sequences in the indicator are represented as states of a Markov chain. A new discrete Markov switching system model integrating 802.11 protocol and new scheduling approach for wireless networks with control systems are constructed. The variable controller can be obtained easily by solving the linear matrix inequality （LMI） with the use of the Matlab toolbox. Both the known and unknown dropout probabilities are considered. Finally, a simulation is given to show the feasibility of the proposed method.

Networked guaranteed cost PID attitude tracking control of a laboratory flight system

This paper investigates the networked flight control system for a laboratory 3 degrees of freedom (3-DOF) helicopter,and presents a novel networked guaranteed cost proportion-integration-differentiation (PID) attitude tracking control method with consideration of time-varying delay and packet dropouts.As the 3-DOF helicopter characteristics of multi-input multi-output (MIMO),channel coupling,and nonlinearity,a genera linear time delay system is modeled by analyzing the motions on elevation,pitch,and travel axis.By using the reciprocal convex approach,the free weight matrix,and the cone complementarity linearization (CCL) method,the PID tracking controller parameters can be designed if the related linear matrix inequalities (LMIs) are feasible.Finally,a practical experiment of laboratory 3-DOF helicopter is given,and the experimental results show that the proposed method is effective.

RHC-Based Consensus of Multi-Agent Systems with Simultaneous Packet Dropout and Input Delay

This paper is concerned with the multi-agent systems with both packet dropout and input delay.A novel receding horizon control(RHC)based consensus protocol is proposed by solving a distributed RHC based optimization problem.The novelty of the optimization problem lines in the involvement of the neighbours’predictor information in the cost functions.Based on the derived RHC based consensus protocol,the necessary and sufficient condition for the mean-square consensus is obtained.In addition,the authors give a specific sufficient condition to guarantee the mean-square consensus.