不确定网络化控制系统保性能控制器设计

针对一类具有时变网络诱导时延的不确定网络控制系统,研究了一种可以对时变时延进行补偿的保性能控制器的设计问题。通过引入两个附加的松弛矩阵使Lyapunov矩阵和系统矩阵分离,得到了一个新的时延补偿保性能判据,并基于该判据设计了系统的保性能状态反馈控制器。当将其应用于具有凸多面体不确定性的网络控制系统时,可以得到与系统不确定性相关联的Lyapunov函数,有效降低了设计的保守性,并且设计了一个迭代算法来得到问题的优化解。最后通过一个算例验证了所提出的时延补偿策略的可行性和优越性。

Guaranteed cost controller design for a class of uncertain networked control systems

The guaranteed cost controller design problem of the systems with time-varying uncertain networked-induced delay and polytopic uncertainties was studied. By the introduction of two slack matrices for the separation of Lyapunov matrix and system matrix, a criterion for the time delay compensation of guaranteed cost controller was obtained, and on the basis of this criterion a robust state feedback guaranteed cost controller was designed. When the criterion was used in the above mentioned systems, vertex-dependent Lyapunov function was obtained so that a less conservative design was realized. Additionally, an iterative algorithm was developed in order to get optimum solution. A numerical example shows the effect of this proposed approach.