基于迟滞量化触发的非线性网络化控制系统分析与控制研究

非线性网络化控制系统具有系统复杂度高、信息传输量大等特点，其分析与控制研究具有重要意义。相比传统的事件触发机制，基于迟滞量化器设计的迟滞量化触发机制可有效避免因量化水平往复跳变引发的抖振现象，降低信息传输量。针对非线性网络化控制系统，本项目设计迟滞量化触发机制，并在此基础上设计观测器与控制器，分析系统的稳定性与鲁棒性。主要研究内容包括：1）深入分析动态迟滞量化器结构特性，提出迟滞量化触发机制，进一步节约信道资源；2）构建观测器与控制器，从局部控制角度出发，削弱不完美信道对系统性能的影响；3）基于迟滞量化触发机制与子系统分解方法，简化分析过程并给出系统受到外界扰动与参数摄动影响时的稳定性与鲁棒性条件。对得到的理论成果，通过仿真分析和实物实验相结合的方法进行验证。研究成果有助于揭示量化过程与事件触发机制的本质关联，丰富非线性系统分析与控制理论，为非线性网络化控制系统的实际应用提供技术支撑。

The characteristics of the nonlinear networked control systems include high complexity and huge amount of transmitted information. Analysis and control of nonlinear networked control systems is of great significance. Compared with traditional event-triggered mechanism, the hysteresis quantization-triggered mechanism designed based on the structure of hysteresis quantizer can reduce the amount of transmitted information and avoid the chattering generated by the frequent jumping of quantization levels. This project aims to design hysteresis quantization-triggered mechanism, propose observer and controller, and analyze the stability and robustness of the nonlinear networked control systems. The main contents include: 1) The characteristics of the dynamic hysteresis quantizer are analyzed, and the hysteresis quantization-triggered control mechanisms are novelly proposed; 2) The observer and controller are co-designed to reduce the negative influence brought by imperfect channels; 3) Based on hysteresis quantization-triggered mechanism and the subsystem decomposition method, the stability analysis and the robustness analysis of the nonlinear networked control systems are simplified and the sufficient conditions are proposed to guarantee the above two properties. The effectiveness of the proposed methods is tested by numerical analysis and experiments. The research results of this project are expected to reveal inner relationship between quantization and the event-triggered control mechanisms, enrich the contents of the nonlinear control theory, and provide technical support for practical applications of the nonlinear networked control systems.