网络控制系统的分析与控制研究
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摘要
利用通讯网络实现地域上分布的现场传感器、控制器及执行器之间的信息相互交换,以实现实时反馈控制的控制系统被称为网络控制系统,近年来,这类新型的控制系统得到了广泛的关注。网络中的延时、丢包、通讯约束等问题使网络控制系统的分析和设计变得异常复杂。本文研究了网络控制系统的建模、分析与控制问题,主要内容如下:
(1)研究了短时延网络控制系统模型描述,分析了现有建模方法的不足,提出一种新的方法,将传感器节点时间驱动,控制器节点和执行器节点事件驱动的不确定时延网络控制系统等效为一类具有参数不确定性的离散时间系统;利用Lyapunov稳定性理论和矩阵不等式方法,给出了状态反馈和输出反馈情况下闭环系统渐近稳定的充分条件和控制器的设计方法,保性能控制律存在的充分条件和保性能控制律的设计方法;利用鲁棒预测控制方法设计了状态反馈模型预测控制器。
(2)研究了多包传输的短时延网络控制系统(MNCS)的建模与控制问题。在传感器数据多包传输的情况下,在控制器端利用对象的模型来估计不能得到的对象状态,并利用获得的对象状态信息更新模型的相应状态,建立了系统的状态方程。将传感器节点采用静态调度策略的MNCS建模为不确定离散周期系统,将传感器节点采用动态调度策略的MNCS建模为离散切换系统;利用周期系统理论和矩阵不等式方法,给出了不确定离散周期系统渐近稳定的充分条件和控制律的设计方法,研究了不确定离散周期系统的H_∞控制和保性能控制问题;利用共同的Lyapunov函数和矩阵不等式方法,给出了切换系统渐近稳定的充分条件和控制律的设计方法;研究了输出反馈多包传输网络控制系统,在控制器端引入状态观测器,分别利用周期系统理论和切换系统理论,给出了闭环系统渐近稳定的充分条件和观测器、控制器的设计方法。
(3)研究了具有数据包丢失和长网络诱导时延的网络控制系统的分析和设计问题。针对网络具有输出时延和数据包丢失的网络控制系统,为补偿网络诱导时延和数据包丢失的影响,设计了一种状态预测器,给出了D-稳定的预测器和控制器的设计方法;针对具有控制时延和数据包丢失的网络控制系统,利用接收缓存技术将时变时延转化为固定时延,在此基础上给出了闭环系统渐近稳定的充分条件和控制器的设计方法;针对同时具有控制时延和输出时延以及数据包丢失的网络控制系统,结合状态预测器,将系统建模为具有事件率约束的异步动态系统,当事件发生率已知时,给出了网络控制系统指数稳定的充分条件和控制器的设计方法。
(4)研究了具有数据丢包和网络诱导时延的网络控制系统的自适应预测控制问题。采用合理的排队机制来克服控制数据包丢失的影响;充分利用网络传输数据包的大小,并使执行器也具有数据发送功能,执行器和传感器在采样时刻发送一定长度的当前及过去时刻的过程输入和输出序列,控制器端则根据接收到的数据进行对象参数的辨识,利用辨识结果来预测截止到当前时刻的过程输出并进行控制量的计算,同时也研究了该方法在非线性NCS的自适应预测控制中的应用。
A great deal of attention has recently been focused on a class of networked control systems(NCSs) wherein the control loops are closed through communication networks. This family of systems is an integration of plants, sensors, controllers, actuators and communication networks of certain local field. However, the introduction of communication networks in the control loop makes the analysis and design of NCSs complex due to random network-induced delay, jitter, packet dropout as well as limited bandwidth. The modeling, analysis and control of NCSs are studied in this dissertation. The main contents are concluded as follows:
(1) The modeling of the NCSs with time-delay shorter than one sample period is studied. The shortcoming of modeling method in current literatures is analysed and a novel method is proposed to model the NCS with time-driven sensor, event-driven controller and actuator as a class of discrete linear system with parameter uncertainties. Based on the Lyapunov theory and Matrix inequalities, the sufficient condition of asymptotic stability for NCSs is derived under the state feedback and output feedback condition, and the sufficient condition of the existence of guaranteed cost control law is also derived. The design methods of state feedback controller, output feedback controller, state feedback guaranteed cost controller and output feedback guaranteed cost controller are presented. Robust model predictive control method is used to design state feedback model predictive controller for NCSs.
(2) The modeling and control problem of Multi-packet transfer NCSs(MNCSs) with uncertain time delay is studied. Supposing the sensor node uses multi-packet transfer, a plant model is used in controller node to evaluate the unreceived plant state, and the corresponding model state is updated by received plant state, then the state equation of NCS is derived. When the sensor nodes use static scheduling strategy, the MNCSs are modeled as uncertain periodic system. The MNCSs are modeled as discrete switched system when the sensor node using dynamical scheduling strategy. Based on the periodic system theory and matrix inequalities, the sufficient condition of asymptotic stability for uncertain periodic NCSs subjected to H_∞performance is derived, and the design methods of H_∞controller and guaranteed cost control are given. Output feedback MNCS is studied, a state observer is introduced in controller node, and periodic system theory and switch system theory with respect to static scheduling and dynamical scheduling strategy is used to get the sufficient condition of asymptotic stability for output feedback MNCS and the design approaches of state observer and controller.
(3) Analysis and design problem of NCSs with data packet dropout and long time delay is studied. Consider NCSs with output delay and data packet dropout, in order to compensate the influence of time delay and data packet dropout, a state predictor is designed in the controller node. Design methods of D-stable state predictor and controller are presented. Consider NCSs with control delay and data packet dropout, a buffer is introduced to convert time-varying delay to fixed delay, the sufficient condition of asymptotic stability and the controller design method for such NCSs is putforward. For NCSs with data packet dropout, output delay and control delay, combined with state predictor, the NCS is modeled as a class of asynchronous dynamical system constrained with event rates. The sufficient condition of exponential stability for NCS with known event rates is derived, and the controller design method is given.
(4) Adaptive predictive control problem of NCS with data packet dropout and network induced delay is studied. An appropriate queuing scheme is used to compensate the effect of data packet dropout. Let actuator has the ability of sending data packet, and every packer has time stamp, the capacity of data packet is utilized sufficiently, at the sample time, actuator and sensor send current and certain past samples of control input and output series, when controller node receives data packet, according to the time stamp, the data vectors is construct to identify the model parameters. Identification result is used to predict process output series up to current time and then compute control series. The application of the proposed method in nueral netork based adaptive predictive control for nonlinear NCS is also studied.
(1)研究了短时延网络控制系统模型描述,分析了现有建模方法的不足,提出一种新的方法,将传感器节点时间驱动,控制器节点和执行器节点事件驱动的不确定时延网络控制系统等效为一类具有参数不确定性的离散时间系统;利用Lyapunov稳定性理论和矩阵不等式方法,给出了状态反馈和输出反馈情况下闭环系统渐近稳定的充分条件和控制器的设计方法,保性能控制律存在的充分条件和保性能控制律的设计方法;利用鲁棒预测控制方法设计了状态反馈模型预测控制器。
(2)研究了多包传输的短时延网络控制系统(MNCS)的建模与控制问题。在传感器数据多包传输的情况下,在控制器端利用对象的模型来估计不能得到的对象状态,并利用获得的对象状态信息更新模型的相应状态,建立了系统的状态方程。将传感器节点采用静态调度策略的MNCS建模为不确定离散周期系统,将传感器节点采用动态调度策略的MNCS建模为离散切换系统;利用周期系统理论和矩阵不等式方法,给出了不确定离散周期系统渐近稳定的充分条件和控制律的设计方法,研究了不确定离散周期系统的H_∞控制和保性能控制问题;利用共同的Lyapunov函数和矩阵不等式方法,给出了切换系统渐近稳定的充分条件和控制律的设计方法;研究了输出反馈多包传输网络控制系统,在控制器端引入状态观测器,分别利用周期系统理论和切换系统理论,给出了闭环系统渐近稳定的充分条件和观测器、控制器的设计方法。
(3)研究了具有数据包丢失和长网络诱导时延的网络控制系统的分析和设计问题。针对网络具有输出时延和数据包丢失的网络控制系统,为补偿网络诱导时延和数据包丢失的影响,设计了一种状态预测器,给出了D-稳定的预测器和控制器的设计方法;针对具有控制时延和数据包丢失的网络控制系统,利用接收缓存技术将时变时延转化为固定时延,在此基础上给出了闭环系统渐近稳定的充分条件和控制器的设计方法;针对同时具有控制时延和输出时延以及数据包丢失的网络控制系统,结合状态预测器,将系统建模为具有事件率约束的异步动态系统,当事件发生率已知时,给出了网络控制系统指数稳定的充分条件和控制器的设计方法。
(4)研究了具有数据丢包和网络诱导时延的网络控制系统的自适应预测控制问题。采用合理的排队机制来克服控制数据包丢失的影响;充分利用网络传输数据包的大小,并使执行器也具有数据发送功能,执行器和传感器在采样时刻发送一定长度的当前及过去时刻的过程输入和输出序列,控制器端则根据接收到的数据进行对象参数的辨识,利用辨识结果来预测截止到当前时刻的过程输出并进行控制量的计算,同时也研究了该方法在非线性NCS的自适应预测控制中的应用。
A great deal of attention has recently been focused on a class of networked control systems(NCSs) wherein the control loops are closed through communication networks. This family of systems is an integration of plants, sensors, controllers, actuators and communication networks of certain local field. However, the introduction of communication networks in the control loop makes the analysis and design of NCSs complex due to random network-induced delay, jitter, packet dropout as well as limited bandwidth. The modeling, analysis and control of NCSs are studied in this dissertation. The main contents are concluded as follows:
(1) The modeling of the NCSs with time-delay shorter than one sample period is studied. The shortcoming of modeling method in current literatures is analysed and a novel method is proposed to model the NCS with time-driven sensor, event-driven controller and actuator as a class of discrete linear system with parameter uncertainties. Based on the Lyapunov theory and Matrix inequalities, the sufficient condition of asymptotic stability for NCSs is derived under the state feedback and output feedback condition, and the sufficient condition of the existence of guaranteed cost control law is also derived. The design methods of state feedback controller, output feedback controller, state feedback guaranteed cost controller and output feedback guaranteed cost controller are presented. Robust model predictive control method is used to design state feedback model predictive controller for NCSs.
(2) The modeling and control problem of Multi-packet transfer NCSs(MNCSs) with uncertain time delay is studied. Supposing the sensor node uses multi-packet transfer, a plant model is used in controller node to evaluate the unreceived plant state, and the corresponding model state is updated by received plant state, then the state equation of NCS is derived. When the sensor nodes use static scheduling strategy, the MNCSs are modeled as uncertain periodic system. The MNCSs are modeled as discrete switched system when the sensor node using dynamical scheduling strategy. Based on the periodic system theory and matrix inequalities, the sufficient condition of asymptotic stability for uncertain periodic NCSs subjected to H_∞performance is derived, and the design methods of H_∞controller and guaranteed cost control are given. Output feedback MNCS is studied, a state observer is introduced in controller node, and periodic system theory and switch system theory with respect to static scheduling and dynamical scheduling strategy is used to get the sufficient condition of asymptotic stability for output feedback MNCS and the design approaches of state observer and controller.
(3) Analysis and design problem of NCSs with data packet dropout and long time delay is studied. Consider NCSs with output delay and data packet dropout, in order to compensate the influence of time delay and data packet dropout, a state predictor is designed in the controller node. Design methods of D-stable state predictor and controller are presented. Consider NCSs with control delay and data packet dropout, a buffer is introduced to convert time-varying delay to fixed delay, the sufficient condition of asymptotic stability and the controller design method for such NCSs is putforward. For NCSs with data packet dropout, output delay and control delay, combined with state predictor, the NCS is modeled as a class of asynchronous dynamical system constrained with event rates. The sufficient condition of exponential stability for NCS with known event rates is derived, and the controller design method is given.
(4) Adaptive predictive control problem of NCS with data packet dropout and network induced delay is studied. An appropriate queuing scheme is used to compensate the effect of data packet dropout. Let actuator has the ability of sending data packet, and every packer has time stamp, the capacity of data packet is utilized sufficiently, at the sample time, actuator and sensor send current and certain past samples of control input and output series, when controller node receives data packet, according to the time stamp, the data vectors is construct to identify the model parameters. Identification result is used to predict process output series up to current time and then compute control series. The application of the proposed method in nueral netork based adaptive predictive control for nonlinear NCS is also studied.
引文
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