不可靠WSN时钟同步网络化输出反馈MPC量化分析

在Cyber-Physical环境下,时钟同步双向信息交换过程中,包含时钟信息的数据包丢失将对时钟同步性能产生影响。讨论了现代控制理论状态空间模型的输出反馈Tubes-MPC时钟同步方法。由分离原理,设计了本地化的状态估计器与控制器,实现了输出反馈Tubes-MPC时钟同步的指数稳定。以不完全量测下的观测模型为基础,定量分析了统计意义下的同步误差方差上界与下界,并采用MPC中Set-Theory-in-Control方法,将完全量测下的干扰误差集合运算于由丢包所引入的附加的估计误差集合,建立了集合约束下的模型预测优化模型。已构建的统一框架下的输出反馈Tubes-MPC时钟同步系统化方法,综合考量了控制理论在线计算复杂度与网络控制观点应用的可行性,对无线网络的不可靠性、网络规模、收敛性能具有鲁棒性,进一步容易扩展为网络级绝对时钟状态空间模型。

Unreliable WSN clock synchronization networked output feedback model predictive control quantitative analysis

In the cyber physical environment, the loss of packet with clock information will have an impact on clock synchronization performance during clock synchronization bi directional information exchange process. This paper discusses the output feedback model predictive control based on tubes (Tubes MPC) clock synchronization method based on the state space model of modern control theory. Based on the principle of separation, the localized state estimator and controller are designed. And the exponential stability of the output feedback Tubes MPC clock synchronization is realized. Based on the observation model under incomplete measurement, the upper bound and lower bound of the variance of synchronization error in statistical meaning are analyzed quantitatively, and using the Set Theory in Control method in MPC, the interference error set under complete measurement is intersected with the set of additional estimation errors introduced by packet loss. The optimization model of model prediction under set constraints is established. The constructed output feedback Tubes MPC clock synchronization systematic method in a unified framework comprehensively considers the application feasibility of control theory online computational complexity and network control perspective, has robustness to the unreliability, network size and convergence performance of wireless network, and can be easily extended to the network level absolute clock state space model.