Delay-independent dual-rate PID controller for a packet-based networked control system
Delay-independent dual-rate PID controller for a packet-based networked control system
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DOI：
10.1016/j.ins.2019.01.059
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发表时间：
2019-05
期刊：
影响因子：
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通讯作者：
J. Alcaina;Á. Cuenca;J. Salt;V. Casanova;R. Pizá
中科院分区：
文献类型：
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作者：
J. Alcaina;Á. Cuenca;J. Salt;V. Casanova;R. Pizá
针对网络控制系统（NCS），提出了一种新的时延无关控制结构，将基于分组的控制策略、基于预测器的控制策略和双速率控制技术相结合。该控制方案能够处理一些网络通信问题，如时变延迟，数据包丢失和数据包无序。此外，所提出的方法能够减少网络负载和连接设备的使用，同时保持令人满意的控制性能。作为一种时延无关的控制方案，控制器的实现不需要测量网络引起的时延。此外，该控制方案适用于开环不稳定对象。控制系统的稳定性是由线性矩阵不等式（LMI）来保证的。仿真结果表明，主要的好处的控制方法，这是实验验证的笛卡尔机器人为基础的试验台平台。
In this paper, a novel delay-independent control structure for a networked control system (NCS) is proposed, where packet-based control strategies with predictor-based and dual-rate control techniques are integrated. The control solution is able to cope with some networked communication problems such as time-varying delays, packet dropouts and packet disorder. In addition, the proposed approach enables to reduce network load, and usage of connected devices, while maintaining a satisfactory control performance. As a delay-independent control solution, no network-induced delay measurement is needed for controller implementation. In addition, the control scheme is applicable to open-loop unstable plants. Control system stability is ensured in terms of linear matrix inequalities (LMIs). Simulation results show the main benefits of the control approach, which are experimentally validated by means of a Cartesian-robot-based test-bed platform.