Event-triggered predictor-based control with gain-Scheduling and extended state observer for networked control systems
Event-triggered predictor-based control with gain-Scheduling and extended state observer for networked control systems
复制标题
DOI：
10.1016/j.ins.2019.03.081
复制
发表时间：
2019-07
期刊：
影响因子：
--
通讯作者：
Antonio González;Á. Cuenca;Vicente Balaguer;P. Garcia
中科院分区：
文献类型：
--
作者：
Antonio González;Á. Cuenca;Vicente Balaguer;P. Garcia
本文通过一种新颖的事件触发控制（ETC）研究了具有不匹配扰动的网络控制系统（NCS）的稳定性，该控制由预测器反馈方案和增益调度扩展状态观察器（ESO）组成。所提出的控制策略的关键思想有三个：（i）减少 NCS 中的资源使用（带宽、能量），同时保持令人满意的控制性能； (ii) 抵消 NCS 的主要负面影响：时变延迟、数据包丢失、数据包混乱，以及 (iii) 抑制由于失配干扰导致的受控输出中的稳态误差。此外，我们通过线性矩阵不等式（LMI）和锥体互补线性化（CCL）方法解决了控制器/观察器增益以及事件触发参数的协同设计。最后，我们通过基于无人机（UAV）的测试台平台上的仿真和实验结果说明了所提出的控制综合的有效性。
This paper investigates the stabilization of Networked Control Systems (NCS) with mismatched disturbances through a novel Event-Triggered Control (ETC), composed of a predictor-feedback scheme and a gain-scheduled Extended State Observer (ESO). The key idea of the proposed control strategy is threefold: (i) to reduce resource usage in the NCS (bandwidth, energy) while maintaining a satisfactory control performance; (ii) to counteract the main negative effects of NCS: time-varying delays, packet dropouts, packet disorder, and (iii) to reject the steady-state error in the controlled output due to mismatched disturbances. Moreover, we address the co-design of the controller/observer gains, together with the event-triggered parameters, by means of Linear Matrix Inequalities (LMI) and Cone Complementarity Linearization (CCL) approaches. Finally, we illustrate the effectiveness of the proposed control synthesis by simulation and experimental results in a Unmanned Aerial Vehicle (UAV) based test-bed platform.