Event-triggered robust control and dynamic scheduling co-design for networked control system

摘要

nowadays, most of networked control systems consist of controllers realized on embedded processors and connected with sensors and actuators via a wire or wireless communication network. Communication bandwidth of the network is the shared resource which is limited. For an efficient use of the limited resource, two important aspects should be taken into account: resource distribution and resource utilization. This paper describes an event based co-design methodology of control law, bandwidth scheduling and event generator for networked control systems. The event-triggered control system with communication uncertainness is modeled as a discrete-time switched system with parameter uncertainties. The joint design of robust control strategy and event generator to guarantee the globally uniformly asymptotic stability of close-loop system under an event based scheduler is formulated as a linear matrix inequality (LMI) problem which can be solved efficiently. The proposed approach is evaluated through a simulation for networked control of a set of inverted pendulums. The results of simulation show that the proposed event based co-design method obtains better control performance with lower resource utilization since the transmission of new measurements and update of control command perform only when it is necessary.