Control over erasure channels: stochastic stability and performance of packetized unconstrained model predictive control
Control over erasure channels: stochastic stability and performance of packetized unconstrained model predictive control
复制标题
擦除通道的控制：分组无约束模型预测控制的随机稳定性和性能
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
F. Allgöwer
中科院分区：
文献类型：
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作者：
M. Reble;D. Quevedo;F. Allgöwer
在这项工作中，我们考虑不可靠的基于分组的通信网络上的离散时间约束非线性系统的控制。随机数据包丢失由两状态马尔可夫链建模，并且假设没有收到确认。为了削弱数据包丢失的影响，控制器发送包含多个未来控制输入的数据包，并且在设备致动器侧应用适当的缓冲。由于所采用的马尔可夫链模型不能保证连续丢包的数量是有界的，因此不能保证确定性稳定性。因此，我们感兴趣的是闭环的随机稳定性。我们提出了一种无约束模型预测控制方案，没有额外的终端加权项的控制输入的计算。可以强调这种无约束模型预测控制方案的两个主要优点。首先，为了保证随机稳定性，我们不需要知识的全局控制李雅普诺夫函数作为终端成本项，而是只有一个限制较少的可控性假设。其次，可以得到闭环的期望无限时域成本上的保证性能界。版权所有© 2012约翰威利父子有限公司.
In this work, we consider the control of discrete‐time constrained nonlinear systems over unreliable packet‐based communication networks. The random packet dropouts are modeled by a two‐state Markov chain, and no acknowledgments of receipt are assumed. To weaken the impact of the packet dropouts, the controller transmits packets containing more than one future control input, and a suitable buffering is applied at the plant actuator side. Because the Markov chain model adopted does not ensure the number of consecutive packet dropouts to be bounded, deterministic stability cannot be guaranteed. Hence, we are interested in stochastic stability of the closed loop instead. We propose an unconstrained model predictive control scheme without additional terminal weighting term for the calculation of the control inputs. Two major advantages of this unconstrained model predictive control scheme can be emphasized. First, to guarantee stochastic stability, we do not require the knowledge of a global control Lyapunov function as terminal cost term but instead only a less restrictive controllability assumption. Second, guaranteed performance bounds on the expected infinite horizon cost of the closed loop can be obtained. Copyright © 2012 John Wiley & Sons, Ltd.