[1]张亚,田玉平.带随机分布时延的网络控制系统预估补偿控制[J].东南大学学报(自然科学版),2009,39(2):309-314.[doi:10.3969/j.issn.1001-0505.2009.02.023]
 Zhang Ya,Tian Yuping.Predictor-based compensator of networked control systems with random distributed delays[J].Journal of Southeast University (Natural Science Edition),2009,39(2):309-314.[doi:10.3969/j.issn.1001-0505.2009.02.023]
点击复制

带随机分布时延的网络控制系统预估补偿控制()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
39
期数:
2009年第2期
页码:
309-314
栏目:
自动化
出版日期:
2009-03-20

文章信息/Info

Title:
Predictor-based compensator of networked control systems with random distributed delays
作者:
张亚 田玉平
东南大学自动化学院, 南京 210096
Author(s):
Zhang Ya Tian Yuping
School of Automation,Southeast University,Nanjing 210096,China
关键词:
网络控制系统 时延 预估补偿控制 均方稳定
Keywords:
networked control system delay predictive control mean square stability
分类号:
TP273
DOI:
10.3969/j.issn.1001-0505.2009.02.023
摘要:
网络时延的时变特性导致只有某些时刻的对象输出被控制器端接收,回路时延的形式较复杂.采用开关式的状态观测器,基于接收到的输出估计系统状态,建立状态估计误差系统.为讨论切换系统均方稳定的条件,推导了多随机变量序列的Markov特性,进而在Markov跳跃系统的基础上得到了闭环系统均方稳定的充分条件.该条件由状态估计误差系统与时延状态反馈控制系统的均方稳定条件组成,所以控制器和观测器满足分离特性.此外,通过增广状态向量利用系统的Markov切换特性得到了系统均方稳定的充分必要条件.最后用数值实例验证了预估补偿控制策略的有效性.
Abstract:
The networked predictive control is studied.Due to time-varying delays,not all of the plant outputs are available for the controller and the form of round-trip delay is complicated.By applying a switching observer,the system states are estimated based on the available outputs and thus the state estimation error system is obtained.To discuss the mean square stability of the switching system,the Markov switching property of multiple random variables is derived.Based on the Markov jump linear system,a sufficient condition of mean square stability is proposed,which is composed of the mean square stability conditions of both state estimation error system and delayed state feedback control system.Thus the observer and controller have separation properties.Moreover,by augmenting state vectors,the sufficient and necessary condition of mean square stability is obtained.The validity of the predictor-based compensator is verified via a numerical simulation.

参考文献/References:

[1] Halevi Y,Ray A.Integrated communication and control systems:part Ⅰ—analysis [J]. ASME J Dynam Syst Meas Control,1988,110(4):367-373.
[2] Ray A,Halevi Y.Integrated communication and control systems:part Ⅱ—design[J]. ASME J Dynam Syst Meas Control,1988,110(4):374-381.
[3] Luck R,Ray A.An observer-based compensator for distributed delays[J].Automatica,1990,26(5):903-908.
[4] Nilsson J,Bernhardsson B,Wittenmark B.Stochastic analysis and control of real-time systems with random time delays[J].Automatica,1998,34(1):57-64.
[5] Zhang Wei,Branicky M S,Phillips S M.Stability of networked control systems[J]. IEEE Control Systems Magazine,2001,21(1):84-89.
[6] Zhang Liqian,Shi Yang,Chen Tongwen.A new method for stabilization of networked control systems with random delays [J]. IEEE Transactions on Automatic Control,2005,50(8):1177-1181.
[7] Lin Xiao,Hassibi A,How J P.Control with random communication delays via a discrete-time jump system approach [C] //Proceedings of the American Control Conference.Chicago,2000:2199-2204.
[8] Yu Mei,Wang Long,Chu Tianguang.An LMI approach to networked control systems with data packet dropout and transmission delays [C] //43rd IEEE Conference on Decision and Control.Nassau,Bahamas,2004:3545-3550.
[9] Yu Mei,Wang Long,Chu Tianguang.Stabilization of networked control systems with data packet dropout and network delays via switching system approach [C] //43rd IEEE Conference on Decision and Control.Nassau,Bahamas,2004:3539-3544.
[10] Rivera M G,Barreiro A.Analysis of networked control systems with drops and variable delays[J].Automatica,2007,43(12):2054-2059.
[11] Zhang Ya,Tian Yuping.Stabilization of networked control systems with packet loss and delay [J]. Dynamics of Continuous,Discrete and Impulsive Systems,Series B:Applications and Algorithms,2007,14(6):771-779.
[12] Ouyang H,Liu Guoping,Rees D.Robust networked predictive control for systems with random network delay [C/CD] //16th IFAC World Congress.Prague,2005.
[13] Zhivoglyadov P V,Middleton R H.Networked control design for linear systems[J]. Automatica,2003,39(4):743-750.
[14] Xia Yuanqing,Liu Guoping,Rees D.Predictive control of networked systems with random delay and data dropout [C] //Proceedings of the 2006 IEEE International Conference on Networking,Sensing and Control.Florida, USA,2006:643-648.
[15] Costa O L V,Fragoso M D.Stability results for discrete-time linear systems with Markovian jumping parameters[J].Journal of Mathematical Analysis and Applications,1993,179(1):154-178.

相似文献/References:

[1]张永林,宋爱国.时延遥操作系统的从端预测无源控制[J].东南大学学报(自然科学版),2009,39(2):293.[doi:10.3969/j.issn.1001-0505.2009.02.020]
 Zhang Yonglin,Song Aiguo.Time-delayed teleoperation using passivity controller with predictors on slave side[J].Journal of Southeast University (Natural Science Edition),2009,39(2):293.[doi:10.3969/j.issn.1001-0505.2009.02.020]
[2]刘少强,王爱民,樊晓平,等.时延下比率遥操作系统稳定性与性能折衷策略[J].东南大学学报(自然科学版),2005,35(3):469.[doi:10.3969/j.issn.1001-0505.2005.03.031]
 Liu Shaoqiang,Wang Aimin,Fan Xiaoping,et al.Control scheme for stability and performance tradeoff in scaled telemanipulation with communication time delay[J].Journal of Southeast University (Natural Science Edition),2005,35(2):469.[doi:10.3969/j.issn.1001-0505.2005.03.031]
[3]朱其新,胡寿松,侯霞.长时滞网络控制系统的随机稳定性研究[J].东南大学学报(自然科学版),2003,33(3):368.[doi:10.3969/j.issn.1001-0505.2003.03.030]
 Zhu Qixin,Hu Shousong,Hou Xia.Research of stochastic stability of networked control systems with long delay[J].Journal of Southeast University (Natural Science Edition),2003,33(2):368.[doi:10.3969/j.issn.1001-0505.2003.03.030]
[4]曾庆军,陈善隆,黄惟一.力觉临场感遥控作业虚拟现实系统研究[J].东南大学学报(自然科学版),1999,29(2):1.[doi:10.3969/j.issn.1001-0505.1999.02.001]
 Zeng Qingjun,Chen Shanlong,Huang Weiyi.Research of Force Telepresence Teleoperation Virtual Reality System[J].Journal of Southeast University (Natural Science Edition),1999,29(2):1.[doi:10.3969/j.issn.1001-0505.1999.02.001]
[5]胡文松,宋爱国,黄惟一.力觉临场感系统的小时延稳定性分析[J].东南大学学报(自然科学版),1999,29(2):6.[doi:10.3969/j.issn.1001-0505.1999.02.002]
 Hu Wensong,Song Aiguo,Huang Weiyi.Stability Analysis of Force Telepresence with Little Time Delay[J].Journal of Southeast University (Natural Science Edition),1999,29(2):6.[doi:10.3969/j.issn.1001-0505.1999.02.002]
[6]钱进,陆佶人.圆周阵被动定位和跟踪方法的研究[J].东南大学学报(自然科学版),1995,25(4):6.[doi:10.3969/j.issn.1001-0505.1995.04.002]
 Qian Jin,Lu,Jiren.Study of Passive Localization and Tracking with a circular Array[J].Journal of Southeast University (Natural Science Edition),1995,25(2):6.[doi:10.3969/j.issn.1001-0505.1995.04.002]
[7]刘威,宋爱国,李会军.力觉临场感机器人基于在线修正虚拟模型的远程控制[J].东南大学学报(自然科学版),2006,36(2):242.[doi:10.3969/j.issn.1001-0505.2006.02.013]
 Liu Wei,Song Aiguo,Li Huijun.Force-reflecting teleoperation of robot based on on-line correction of virtual model[J].Journal of Southeast University (Natural Science Edition),2006,36(2):242.[doi:10.3969/j.issn.1001-0505.2006.02.013]
[8]陈启宏,费树岷,宋爱国.遥操作机器人系统的预测控制[J].东南大学学报(自然科学版),2003,33(2):177.[doi:10.3969/j.issn.1001-0505.2003.02.015]
 Chen Qihong,Fei Shumin,Song Aiguo.Predictive control of teleoperation robot systems[J].Journal of Southeast University (Natural Science Edition),2003,33(2):177.[doi:10.3969/j.issn.1001-0505.2003.02.015]
[9]赵俊,孙小菡.基于光分组交换的高性能计算机系统分析[J].东南大学学报(自然科学版),2007,37(5):766.[doi:10.3969/j.issn.1001-0505.2007.05.006]
 Zhao Jun,Sun Xiaohan.Analysis of high performance computing system based on OPS[J].Journal of Southeast University (Natural Science Edition),2007,37(2):766.[doi:10.3969/j.issn.1001-0505.2007.05.006]
[10]樊卫华,蔡骅,陈庆伟,等.基于异步动态系统的网络控制系统建模[J].东南大学学报(自然科学版),2003,33(2):194.[doi:10.3969/j.issn.1001-0505.2003.02.019]
 Fan Weihua,Cai Hua,Chen Qingwei,et al.Networked control systems modeling using asynchronous dynamical systems[J].Journal of Southeast University (Natural Science Edition),2003,33(2):194.[doi:10.3969/j.issn.1001-0505.2003.02.019]

备注/Memo

备注/Memo:
作者简介: 张亚(1981—),女,博士生; 田玉平(联系人),男,博士,教授,博士生导师,yptian@seu.edu.dn.
基金项目: 国家自然科学基金资助项目(60425308)、 国家高技术研究发展计划(863计划)资助项目(2006AA04Z263)、江苏省自然科学基金资助项目(BK2006097)、东南大学优秀博士学位论文基金资助项目.
引文格式: 张亚,田玉平.带随机分布时延的网络控制系统预估补偿控制[J].东南大学学报:自然科学版,2009,39(2):309-314.
更新日期/Last Update: 2009-03-20