Data-Based Predictive Control for Networked Nonlinear Systems With Network-Induced Delay and Packet Dropout
Data-Based Predictive Control for Networked Nonlinear Systems With Network-Induced Delay and Packet Dropout
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DOI：
10.1109/tie.2015.2497206
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发表时间：
2016-02
影响因子：
7.7
通讯作者：
Zhong-Hua Pang;Guoping Liu;Donghua Zhou;Dehui Sun
中科院分区：
文献类型：
--
作者：
Zhong-Hua Pang;Guoping Liu;Donghua Zhou;Dehui Sun
研究了一类非线性系统基于数据的网络控制问题。网络通信的约束，如网络引起的延迟，数据包的混乱，并在反馈和前向信道的数据包丢失，被认为是进一步处理的往返时间（RTT）延迟，重新定义。利用基于分组的传输机制和无模型自适应控制算法，提出了一种基于数据的网络预测控制方法，对随机RTT时延进行主动补偿。该方法不需要任何关于被控对象模型的信息，仅依赖于被控对象的输入输出数据。一个简单而明确的充分条件，这是相关的RTT延迟的上界，推导出的闭环系统的稳定性。此外，对于阶跃参考输入，可以实现零稳态输出跟踪误差。仿真和实验结果证明了该方法的有效性。
This paper addresses the data-based networked control problem for a class of nonlinear systems. Network communication constraints, such as network-induced delay, packet disorder, and packet dropout in both the feedback and forward channels, are considered and further treated as the round-trip time (RTT) delay that is redefined. By using the packet-based transmission mechanism and the model-free adaptive control algorithm, a data-based networked predictive control method is proposed to actively compensate for the random RTT delay. The proposed method does not require any information on the plant model and depends only on the input and output data of the plant. A simple and explicit sufficient condition, which is related to the upper bound of the RTT delays, is derived for the stability of the closed-loop system. Additionally, a zero steady-state output tracking error can be achieved for a step reference input. The effectiveness of the proposed method is demonstrated via simulation and experimental results.