传输时延和数据包丢失的网络化系统预测控制

摘要

A model predictive control method is proposed for networked control systems with input constrain. Transmission time-delay and data packet dropout are both considered in the networked control systems. Given the upper bound of consecutive data dropout and time delay, the corresponding period control input generated by the predictive controller is designed to compensate for the time delay and packet dropout. Through setting up a time delay state matrix to classify the system model and regarding the systems as switched systems, sufficient stability conditions are established via a kind of switched Lyapunov function approach. In order to improve the system performance and to save the calculated amount, a part receding horizon optimization was used to design the controller. The upper bound of constant index and the sufficient condition of asymptomatic stability are given, and the state feedback law can be calculated by solving linear matrix inequalities. Validity of the proposed method is verified with simulations.%针对具有传输时延和数据包丢失的网络化系统研究了有约束模型预测控制问题.考虑网络控制系统中同时存在时延和丢包的情况,给定时延和丢包的上界值,用预测控制器产生的对应时刻的控制输入补偿网络时延和数据包丢失,通过建立时延状态矩阵将系统模型进行分类并视为切换系统,并通过构造切换Lyapunov函数证明了切换系统的稳定性.为了在提高系统性能的基础上减少计算量,利用部分滚动优化方法进行控制器设计,给出了性能指标的上界和系统渐进稳定的充分条件,通过在线求解LMI问题得到状态反馈控制律.仿真研究验证了该方法的有效性.