H∞ Step Tracking Control for Networked Discrete-Time Nonlinear Systems With Integral and Predictive Actions
H∞ Step Tracking Control for Networked Discrete-Time Nonlinear Systems With Integral and Predictive Actions
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DOI：
10.1109/tii.2012.2225434
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发表时间：
2013-02
影响因子：
12.3
通讯作者：
Hui Zhang;Yang Shi;Mingxi Liu
中科院分区：
文献类型：
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作者：
Hui Zhang;Yang Shi;Mingxi Liu
研究了网络环境下有限容量的离散时间非线性系统的阶跃跟踪控制问题。非线性系统表示为一个Takagi-Sugeno（T-S）模糊系统，网络诱导的延迟被纳入建模的连接链路。为了补偿网络链路效应和消除跟踪误差，我们采用了一些主要用于预测控制和积分控制的技术。此外，二次成本函数，其中包括有关的系统的性能和致动能力的条款。我们假设集总网络引起的延迟位于一个已知的集合内，并且该集合中每个元素的发生概率是先验已知的。然后，延迟信息将被纳入延迟相关的跟踪控制器。跟踪控制器的参数是通过求解一个优化问题而得到的。一个网络化倒立摆的设计实例验证了该方法的有效性。
This paper investigates the step tracking control problem for discrete-time nonlinear systems in a networked environment with a limited capacity. The nonlinear system is represented by a Takagi-Sugeno (T-S) fuzzy system, and a network-induced delay is incorporated in the modeling of the connection link. In order to compensate for the network link effects and eliminate the tracking error, we employ some techniques mainly used in the predictive control and the integral control. Moreover, a quadratic cost function which includes terms related to the performance of the system and the actuating capacity is used. We assume that the lumped network-induced delay lies within a known set, and that the occurrence probability for each element in the set is known a priori. Then, the delay information will be incorporated into the delay-dependent tracking controllers. The parameters for the tracking controller are derived by solving an optimization problem. A networked inverted pendulum is used to illustrate the efficacy of the proposed design method.