Combined feedback-feedforward tracking control for networked control systems with probabilistic delays
Combined feedback-feedforward tracking control for networked control systems with probabilistic delays
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DOI：
10.1016/j.jfranklin.2014.02.012
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发表时间：
2014-06
期刊：
影响因子：
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通讯作者：
Hui Zhang;Junmin Wang
中科院分区：
文献类型：
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作者：
Hui Zhang;Junmin Wang
本文在离散时间框架下研究了网络控制系统的反馈-前馈组合跟踪控制问题。网络引起的延迟，从传感器到控制器（S-C）和从控制器到执行器（C-A）的网络链路上，被认为是。假设在一个集合内每个延迟发生的概率是已知的。我们应用一个预测的计划来补偿C-A延迟，并建议设计一个控制器，为每个网络引起的延迟。利用两次增广技术，将网络控制系统的跟踪问题转化为无时滞随机系统的反馈控制问题。利用线性矩阵不等式和线性矩阵等式分析了闭环随机系统的随机稳定性和H∞性能。然后，我们提出了控制器的设计方法，通过解决一个非线性跟踪最小化问题。最后，以直升机控制为例说明了所提出的设计方法。
In this paper, we investigate the combined feedback–feedforward tracking control problem for networked control systems (NCSs) under the discrete-time framework. Network-induced delays, both on the network links from the sensor to the controller (S–C) and from the controller to the actuator (C–A), are considered. It is assumed that the probability for the occurrence of each delay is known within a set. We apply a predictive scheme to compensate for the C–A delay, and propose to design a controller for each network-induced delay. Using the augmentation technique twice, the tracking problem of the NCS is converted to a feedback control problem for delay-free stochastic systems. The stochastic stability and the H∞ performance of the obtained closed-loop stochastic system are analyzed in terms of a linear matrix inequality and a linear matrix equality. Then, we propose the controller design method by solving a nonlinear trace minimization problem. Finally, an example on the control of a helicopter is given to illustrate the proposed design approach.