网络化控制系统的时延观测器设计及其状态反馈控制

研究了一种网络化控制系统,其输出时延和控制时延均大于采样周期,且控制时延服从已知随机分布.基于现今值观测器原理,采用设置缓冲区和带有时戳的传感数据传输方法,给出了一种具有时延补偿功能的时延观测器,并证明了在系统可观的条件下可实现观测器极点的任意配置.之后,基于该观测器设计了状态反馈控制系统,并证明了复合系统的分离性原理.通过仿真验证了所提方法的有效性.

Time-delay observer and state feedback control of networked control system

We study a networked control system in which both values of the output time-delay and the control time- delay are greater than the sampling period,and the control time-delay follows a given random distribution law.Based on the current observer principle,we propose a time-delay observer with time-delay compensation by employing buffer and the time-stamping on the transmission data of sensor.The poles of the observer can be arbitrarily placed if the system is observable.The state feedback control system based on the proposed observer is designed.The separation principle of the compound system is proved.The effectiveness of the proposed method is verified by simulation.