具有网络时延和数据丢包的网络控制.doc
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具有网络时延和数据丢包的网络控制,摘 要近年微电子、信息网络和控制理论与技术飞速发展，多样化传感器、智能化控制器和高精度驱动设备的问世给网络控制系统的发展提供了物质基础。高速公共网络和工业现场总线技术的不断发展和成功应用加速了网络控制系统的可靠性和开放性问题的研究，促进了网络控制系统在现代航空、精密制造以及远程医疗等控制领域的广泛应用。网络控制系统充分...
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摘 要
近年微电子、信息网络和控制理论与技术飞速发展，多样化传感器、智能化控制器和高精度驱动设备的问世给网络控制系统的发展提供了物质基础。高速公共网络和工业现场总线技术的不断发展和成功应用加速了网络控制系统的可靠性和开放性问题的研究，促进了网络控制系统在现代航空、精密制造以及远程医疗等控制领域的广泛应用。网络控制系统充分体现了可以实现资源共享和远程分布控制、系统构建模块化、集成化、成本低、故障诊断和维护方便、易扩展、灵活性强等优势。但是，由于通信机制和通信协议的原因，以及网络的带宽有限且为系统中各节点所共享，当各节点通过控制网络交换数据时，往往会出现数据碰撞、网络拥堵、网络间接性中断等现象，不可避免地网络控制系统就会产生数据传输时延和数据包丢失等问题。这些问题会降低控制系统性能，严重时使系统失稳。因此，本文考虑了包含网络时延、数据丢包和系统外有限能量干扰等情况的网络控制系统，先确定要设计的网络控制系统性能指标，从控制网络的服务质量出发，研究网络控制系统的建模、稳定性分析、鲁棒 最优控制和 滤波器设计等问题，主要工作如下：
研究了具有短时延和外部有限能量扰动的动态输出反馈网络控制系统，控制器采用具有动态补偿功能的动态输出反馈控制，这样可以提高系统输出反馈的控制性能，利用Lyapunov稳定性理论和线性矩阵不等式处理方法，找出网络控制系统鲁棒 保性能控制律存在的条件，总结得出鲁棒 保性能控制律设计方法。
研究了具有长时延、数据包丢失以及外部干扰的状态反馈网络控制系统。基于Lyapunov-Krasovskii泛函和LMI方法，从 状态反馈控制问题入手，给出了系统稳定的充分条件和鲁棒 控制器的设计方法。在稳定性条件的推导过程中，对交叉项进行了更紧的界定，总结得出了相应的状态反馈 控制器设计方法。通过仿真算例求解被控对象网络诱导时延与数据丢包的最大值。
研究了一类不确定离散系统的鲁棒 滤波问题，其中不确定性存在于系统的状态系数矩阵和输出系数矩阵中，且满足范数有界条件。对于所容许的参数不确定性，构造一个考虑时延和丢包的网络滤波器，使得滤波误差系统渐近稳定且满足一定的 性能指标。本文推出了网络 滤波器存在的充分条件，其中通过矩阵变量替换和锥补算法处理了充分条件中所含逆矩阵。最后通过仿真证明了本文滤波器设计方法有效性。
关键词：网络控制系统；网络时延；数据丢包；鲁棒 控制；保性能 控制；线性矩阵不等式
Abstract
With the rapid developments of microelectronics, communication network and computer technology, the substance foundation of networked control systems (NCSs) supplied by the mergence of the diverse sensors, the intelligent actuators and the high-precision drive devices. The reliability and open issues of NCS have been solved by the sustained developments of high speed Ethernet and field-bus control technology which successful applications, and they also promote the extensive applications of NCS in the field of Aerospace, Equipment manufacturing, Telemedicine and so on. NCS can reflect resource sharing and the distribution of remote control, modular of system building, integrated, low cost, fault diagnosis and maintenance convenience, easy to expand, flexibility and other advantages. Due to the communication mechanism and the communication protocol, and the limited bandwidth of the network is shared by each node in the system, when each node’s data transmitted over control network, NCS often meet data collision, network congestion and network connection interruption phenomenon. These make NCS produce data transmission delay and data packet dropout and other issues. These problems can reduce performance of control system, even lead the system to instability. Therefore, this paper studied the NCS that contain network-induced delay and packet loss and problems such as external disturbances. Based on service quality of control network, by using the performance index of NCS, this paper also studied the modeling of NCS, stability analysis and robust optimal control and design method of robust filter. The main results are as follows:
Dynamic output feedback NCS with problem of the short network-induced delay and the disturbance of external limited energy is studied. Controller is a dynamic compensation function of dynamic output feedback control, so that it can improve performance of output feedback control system. By Lyapunov stability theory and linear matrix inequality processing method, this paper sought the existing conditions of NCS robust guaranteed cost control laws and summarized the design method of the robust guaranteed cost control laws.
A class of state feedback NCS with problem of the long network-induced delay, packet dropout and the disturbance of external limited energy is studied. By the Lyapunov -Krasovskii theory and LMI approach, this paper began from the state feedback control problems, and proved robust controller design method and sufficient conditions of the stability system. In the stability conditions deduced process, this paper summarized the study of the more tight cross-term and got relevant state feedback controller design method. The simulation example calculated maximum of network induction time delay and data packet dropout.
This paper dealt with the problem of robust filtering for a class of uncertain discrete systems, and the uncertainties that satisfied the so-called norm-bounded cond..
近年微电子、信息网络和控制理论与技术飞速发展，多样化传感器、智能化控制器和高精度驱动设备的问世给网络控制系统的发展提供了物质基础。高速公共网络和工业现场总线技术的不断发展和成功应用加速了网络控制系统的可靠性和开放性问题的研究，促进了网络控制系统在现代航空、精密制造以及远程医疗等控制领域的广泛应用。网络控制系统充分体现了可以实现资源共享和远程分布控制、系统构建模块化、集成化、成本低、故障诊断和维护方便、易扩展、灵活性强等优势。但是，由于通信机制和通信协议的原因，以及网络的带宽有限且为系统中各节点所共享，当各节点通过控制网络交换数据时，往往会出现数据碰撞、网络拥堵、网络间接性中断等现象，不可避免地网络控制系统就会产生数据传输时延和数据包丢失等问题。这些问题会降低控制系统性能，严重时使系统失稳。因此，本文考虑了包含网络时延、数据丢包和系统外有限能量干扰等情况的网络控制系统，先确定要设计的网络控制系统性能指标，从控制网络的服务质量出发，研究网络控制系统的建模、稳定性分析、鲁棒 最优控制和 滤波器设计等问题，主要工作如下：
研究了具有短时延和外部有限能量扰动的动态输出反馈网络控制系统，控制器采用具有动态补偿功能的动态输出反馈控制，这样可以提高系统输出反馈的控制性能，利用Lyapunov稳定性理论和线性矩阵不等式处理方法，找出网络控制系统鲁棒 保性能控制律存在的条件，总结得出鲁棒 保性能控制律设计方法。
研究了具有长时延、数据包丢失以及外部干扰的状态反馈网络控制系统。基于Lyapunov-Krasovskii泛函和LMI方法，从 状态反馈控制问题入手，给出了系统稳定的充分条件和鲁棒 控制器的设计方法。在稳定性条件的推导过程中，对交叉项进行了更紧的界定，总结得出了相应的状态反馈 控制器设计方法。通过仿真算例求解被控对象网络诱导时延与数据丢包的最大值。
研究了一类不确定离散系统的鲁棒 滤波问题，其中不确定性存在于系统的状态系数矩阵和输出系数矩阵中，且满足范数有界条件。对于所容许的参数不确定性，构造一个考虑时延和丢包的网络滤波器，使得滤波误差系统渐近稳定且满足一定的 性能指标。本文推出了网络 滤波器存在的充分条件，其中通过矩阵变量替换和锥补算法处理了充分条件中所含逆矩阵。最后通过仿真证明了本文滤波器设计方法有效性。
关键词：网络控制系统；网络时延；数据丢包；鲁棒 控制；保性能 控制；线性矩阵不等式
Abstract
With the rapid developments of microelectronics, communication network and computer technology, the substance foundation of networked control systems (NCSs) supplied by the mergence of the diverse sensors, the intelligent actuators and the high-precision drive devices. The reliability and open issues of NCS have been solved by the sustained developments of high speed Ethernet and field-bus control technology which successful applications, and they also promote the extensive applications of NCS in the field of Aerospace, Equipment manufacturing, Telemedicine and so on. NCS can reflect resource sharing and the distribution of remote control, modular of system building, integrated, low cost, fault diagnosis and maintenance convenience, easy to expand, flexibility and other advantages. Due to the communication mechanism and the communication protocol, and the limited bandwidth of the network is shared by each node in the system, when each node’s data transmitted over control network, NCS often meet data collision, network congestion and network connection interruption phenomenon. These make NCS produce data transmission delay and data packet dropout and other issues. These problems can reduce performance of control system, even lead the system to instability. Therefore, this paper studied the NCS that contain network-induced delay and packet loss and problems such as external disturbances. Based on service quality of control network, by using the performance index of NCS, this paper also studied the modeling of NCS, stability analysis and robust optimal control and design method of robust filter. The main results are as follows:
Dynamic output feedback NCS with problem of the short network-induced delay and the disturbance of external limited energy is studied. Controller is a dynamic compensation function of dynamic output feedback control, so that it can improve performance of output feedback control system. By Lyapunov stability theory and linear matrix inequality processing method, this paper sought the existing conditions of NCS robust guaranteed cost control laws and summarized the design method of the robust guaranteed cost control laws.
A class of state feedback NCS with problem of the long network-induced delay, packet dropout and the disturbance of external limited energy is studied. By the Lyapunov -Krasovskii theory and LMI approach, this paper began from the state feedback control problems, and proved robust controller design method and sufficient conditions of the stability system. In the stability conditions deduced process, this paper summarized the study of the more tight cross-term and got relevant state feedback controller design method. The simulation example calculated maximum of network induction time delay and data packet dropout.
This paper dealt with the problem of robust filtering for a class of uncertain discrete systems, and the uncertainties that satisfied the so-called norm-bounded cond..
