基于asNMPC方法的非线性网络化实时反馈控制

在网络化控制系统中，网络的介入带来了一些不利于系统控制的问题，如数据传输中普遍存在的随机时变延时，数据丢失和数据时序颠倒等。在预测控制思想的基础上，针对前馈通道和反馈通道同时存在网络传输环节的情况，采用asNMPC(advanced-step nonlinear model predictive control)方法实现了对于非线性网络化控制系统中上述问题的补偿控制。模型失配情况下与DMC(dynamic matrix control)进行比较，仿真结果表明了asNMPC方法对于非线性网络化控制系统的有效性。

Nonlinear networked real-time control based on asNMPC

There are some issues caused by the network’s intervention,such as random time-varying delay,data packet dropout and out of order,which are widespread in data transmission.All these are not conductive to system control in networked control systems.Based on the thought of predictive control,an asNMPC method is applied to compensate the above disadvantages in nonlinear networked control systems.When the network transmission links exist in both feed-forward and feedback channel simultaneously,the given method can reach good control effections.The asNMPC method for nonlinear networked control system shows strong robustness comparing with DMC,especially in the case of model mismatch.