带有丢包的网络化控制系统非脆弱鲁棒H¥控制

摘要

针对带有丢包的Lipschitz非线性NCS中控制器参数存在摄动的问题，设计了一种加性非脆弱状态反馈H¥控制器。利用Lyapunov稳定性理论和线性矩阵不等式方法，将具有控制器参数不确定的非脆弱鲁棒 H¥控制器设计问题，转化为具有线性矩阵不等式约束和线性目标函数的凸优化问题求解，给出了丢包情况下的非脆弱鲁棒 H¥控制器存在的充分条件。所设计的控制器在容许的参数摄动和丢包概率下，不仅能保证闭环NCS的稳定性和性能要求，而且是非脆弱的。数值仿真验证了方法的有效性。%This paper focuses on the problem of non-fragile robust H¥ control for a class of Lipschitz nonlinear net-worked control system with packet dropouts, an approach is presented to design the non-fragile robust H¥ controller with additive gain uncertainties. Based on Lyapunov stability theory and the approach of Linear Matrix Inequality(LMI), the design of the controller with uncertain gain is converted into a convex optimization problem with linear matrix inequality constraints. In the case of packet dropouts, sufficient conditions for the existence of non-fragile robust H¥ controller are established. The proposed controller is robust and non-fragile, which can assure the stability and H¥ performance of the closed system with packet-dropout rate and gain perturbation in permitted ranges. A numerical simulation is exploited to demonstrate the effectiveness of the proposed approach.