Design and Stability Analysis of Uncertain Networked Predictive Control Systems with Multiple Forward Channels

摘要

This paper is concerned with the design and stability of networkedpredictive control for uncertain systems with multiple forwardchannels. The delays and packet dropouts are distributed such thatthe classic networked predictive control (NPC) needs modificationsto be implemented. An improved control signal selection scheme withdistributed prediction length is proposed to increase the predictionaccuracy and hence achieve better control performance. Moreover,stability analysis results are obtained for both constant and randomcases. Interestingly, it is shown that the stability of theclosed-loop NPC system is not related to the distributed delays whenthey are constant and the system model is accurate. Finally, atwo-axis milling machine example is given to illustrate theeffectiveness of the proposed method.