移动机器人网络控制系统的输出反馈控制

以线性时不变系统为被控对象,建立了四轮移动机器人网络控制系统的离散数学模型。诱导时延是影响系统性能的关键因素,通过在节点中设置缓冲区的方法可以将网络控制系统中的随机诱导时延转化为确定性时延,从而将网络控制系统由随机系统转化为确定性系统。通过被控对象移动机器人控制实验系统,设计了一个能处理网络诱导时延的输出反馈控制器,分析了采样周期和网络诱导时延对网络控制系统稳定性的影响。仿真结果表明了该控制器和控制策略的正确性及有效性。

Output Feedback Control of Networked Control Systems Based on Mobile Robot

The discrete mathematic model of networked control systems is presented,based on which the controlled process is a linear time-invariant system and the control object is a mobile robot with four wheels.Inducing delay is a key factor to determinate the system performances.Placing a special mount of buffers at the node in networked control systems,the stochastic inducing delay can be transformed to a deterministic delay.The stochastic networked control systems can be transformed to a deterministic delay system.Output feedback controllers are designed regarding the presence of the network in the feedback loop, so consequently many controller design technique may be employed.The stability performances of the relation between sampling period and delay are also proposed in simulation results.Finally an experiment on the mobile robot control system shows that the controller design concept is right and effective.