Ho∞-based fault detection for nonlinear networked systems with random packet dropout and probabilistic interval delay

The fault detection problem for the nonlinear networked control system (NCS) with packet dropout and delay is investigated.A nonlinear stochastic system model is proposed to account for the NCS with random packet dropout and networkinduced non-uniformly distributed time-varying delay in both from sensor to controller (S/C) and from controller to actuator (C/A).Based on the obtained NCS model,employing an observer-based fault detection filter as the residual generator,the addressed fault detection problem is converted into an auxiliary nonlinear H∞ control problem.Then,with the help of Lyapunov functional approach,a sufficient condition for the desired fault detection filter is constructed in terms of certain linear matrix inequalities,which depend on not only the delay interval but also the delay interval occurrence rate and successful packet communication rate.Especially,a trade-off phenomenon between the maximum allowable delay bound and successful data packet transmission rate is found,which is typically resulted from the limited bandwidth of communication networks.The effectiveness of the proposed method is demonstrated by a simulation example.     

H_∞-based fault detection for nonlinear networked systems with random packet dropout and probabilistic interval delay

The fault detection problem for the nonlinear networked control system(NCS) with packet dropout and delay is investigated.A nonlinear stochastic system model is proposed to account for the NCS with random packet dropout and networkinduced non-uniformly distributed time-varying delay in both from sensor to controller(S/C) and from controller to actuator(C/A).Based on the obtained NCS model,employing an observer-based fault detection filter as the residual generator,the addressed fault detection problem is converted into an auxiliary nonlinear H∞ control problem.Then,with the help of Lyapunov functional approach,a sufficient condition for the desired fault detection filter is constructed in terms of certain linear matrix inequalities,which depend on not only the delay interval but also the delay interval occurrence rate and successful packet communication rate.Especially,a trade-off phenomenon between the maximum allowable delay bound and successful data packet transmission rate is found,which is typically resulted from the limited bandwidth of communication networks.The effectiveness of the proposed method is demonstrated by a simulation example.     

联合AMC,ARQ与包分割的通信系统队列分析与跨层优化

针对联合自适应调制编码（adaptive modulation and coding, AMC）, 自动重传请求（automatic repeat request, ARQ）与包分割传输3种机制的通信系统,提出了一种ARQ多帧动态周期反馈机制,并建立了分析此系统的马尔可夫链模型,得到了包平均时延、平均反馈次数、平均掉包率和系统吞吐量等多种性能指标。在此基础上提出了在服务质量（quality of service, QoS）条件约束下,以最大化系统有效吞吐量为目标的双向链路跨层最优化算法。仿真结果表明,提出的马尔可夫链模型能精确预测系统的性能,与现有的单帧反馈和多帧固定周期反馈相比,提出反馈机制可达到更大的系统有效吞吐量。     

Tracking Control of Wheeled Mobile Robots with Communication Delay and Data Loss

This paper considers the tracking control problem of a wheeled mobile robot under situation of communication delay and consecutive data packet dropouts in the feedback channel. A tracking controller in discrete-time domain for the case of ideal network condition is first derived, and then the networked predictive controller as well as two algorithms for dealing with communication delay and consecutive data packet dropouts are proposed. Simulation and experimental results verify the realizability and effectiveness of the proposed algorithms.     

Observer-based H∞ control over packet dropping networks

A new controller design problem of networked control systems with packet dropping is proposed. Depending on the place that the observer is put in the system, the network control systems with packet dropping are modeled as stochastic systems with the random variables satisfying the Bernoulli random binary distribution. The observer-based controller is designed to stabilize the networked system in the sense of mean square, and the prescribed H∞ disturbance attenuation level is achieved. The controller design problem is formulated as the feasibility of the convex optimization problem, which can be solved by a linear matrix inequality (LMI) approach. Numerical examples illustrate the effectiveness of the proposed methods.     

具有时变时延和丢包的网络控制系统H∞优化控制

研究了一类存在时变时延和丢包的网络控制系统(networked control systems, NCS )的H∞优化控制问题。当网络时延和连续丢包有界时,NCS被建模为等效的具有时变时滞的系统,利用Lvapunov Krasovskii泛函和线性矩阵不等式方法,在NCS渐近稳定的基础上给出NCS状态反馈次优和最优H∞控制律的设计方法,求解时不需要使用重复迭代,设计控制器时也无须知道调节参数。仿真表明了此方法的可行性和有效性。     

Impulsive controller design for nonlinear networked control systems with time delay and packet dropouts

The globally exponential stability of nonlinear impulsive networked control systems(NINCS) with time delay and packet dropouts is investigated.By applying Lyapunov function theory,sufficient conditions on the global exponential stability are derived by introducing a comparison system and estimating the corresponding Cauchy matrix.An impulsive controller is explicitly designed to achieve exponential stability and ensure state converge with a given decay rate for the system.The Lorenz oscillator system is presented as a numerical example to illustrate the theoretical results and effectiveness of the proposed controller design procedure.     

Research on robust fault-tolerant control for networked control system with packet dropout

A kind of networked control system with network-induced delay and packet dropout, modeled on asynchronous dynamical systems was tested, and the integrity design of the networked control system with sensors failures and actuators failures was analyzed using hybrid systems technique based on the robust fault-tolerant control theory. The parametric expression of controller is given based on the feasible solution of linear matrix inequality. The simulation results are provided on the basis of detailed theoretical analysis, which further demonstrate the validity of the proposed schema.     

Observer-based H∞ control over packet dropping networks

A new controller design problem of networked control systems with packet dropping is proposed. Depending on the place that the observer is put in the system, the network control systems with packet dropping are modeled as stochastic systems with the random variables satisfying the Bernoulli random binary distribution. The observer-based controller is designed to stabilize the networked system in the sense of mean square, and the prescribed H∞ disturbance attenuation level is achieved. The controller design problem is formulated as the feasibility of the convex optimization problem, which can be solved by a linear matrix inequality （LMI） approach. Numerical examples illustrate the effectiveness of the proposed methods.     

Fault detection for networked systems subject to access constraints and packet dropouts

This paper addresses the problem of fault detection(FD) for networked systems with access constraints and packet dropouts.Two independent Markov chains are used to describe the sequences of channels which are available for communication at an instant and the packet dropout process,respectively.Performance indexes H∞ and H_ are introduced to describe the robustness of residual against external disturbances and sensitivity of residual to faults,respectively.By using a mode-dependent fault detection filter(FDF) as residual generator,the addressed FD problem is converted into an auxiliary filter design problem with the above index constraints.A sufficient condition for the existence of the FDF is derived in terms of certain linear matrix inequalities(LMIs).When these LMIs are feasible,the explicit expression of the desired FDF can also be characterized.A numerical example is exploited to show the usefulness of the proposed results.     

H.264编码器在2D网孔和ASNoC中的通信量建模和映射

如今,SoC 设计对片上资源的需求不断增长,而总线结构却不能满足片上通信的要求。因此,设计者开始研究一种新颖的、可扩展的、模块化的设计方法学——片上网络。作者在这个领域中的主要工作是对 H.264 编码器进行通信量建模的仿真,并在规则及专用的 NoC 结构下提出相关的映射方法。首先,使用帧速率和分布拟合方法对H.264 编码器各个模块之间的通信量行为进行了仿真和分析;然后得到了 H.264 编码器专用的重要仿真参数的模型,如带宽、延时、包尺寸等;并利用这些通信量行为模型和参数将 H.264 编码器映射到二维网孔和专用 NoC 结构中;最终使用 Network Simulator-2 比较各参数,如平均包延时,丢包率和面积。另外,还比较了两种 NoC 结构在短期行为中的平均包延时。比较结果显示,专用 NoC 具有更低的平均包延时,更小的丢包率和更少的面积。     

QoS-aware multicast routing protocol for Ad hoc networks

1 .INTRODUCTIONA mobile ad hoc network ( MANET) is a multi-hopwireless network formed by a collection of mobilenodes without the intervention of fixedinfrastructure.Because an Ad hoc network is infrastructure-less andself-organized,it is used to provide i mpromptu com-munication facilities in harsh environments . Typicalapplication areas of mobile ad hoc networkinclude bat-tlefields ,emergency search,rescue sites and data ac-quisitionin remote areas . A mobile Ad hoc networkisalso usef…     

有包丢失的动态输出反馈奇异网络化系统稳定性分析

基于正则、无脉冲的奇异被控对象,研究了同时具有时延和数据包丢失的动态输出反馈网络控制系统的建模和稳定性问题。 当时延不大于一个采样周期、数据包丢失率一定时,将动态输出反馈网络控制系统建模为数据包丢失率约束的异步动态切换系统,利用切换系统和线性矩阵不等式方法,推导出数据包丢失率约束的系统指数稳定的充分条件,并且给出了系统指数稳定的指数衰减率以及最大容许数据包丢失率。仿真实验说明分析方法和研究结果是有效可行的。     

Robust H∞ control for networked control systems

The robust H∞ control for networked control systems with both stochastic network-induced delay and data packet dropout is studied.When data are transmitted over network,the stochastic data packet dropout process can be described by a two-state Markov chain.The networked control systems with stochastic network-induced delay and data packet dropout are modeled as a discrete time Markov jump linear system with two operation modes.The sufficient condition of robust H∞ control for networked control systems stabilized by state feedback controller is presented in terms of linear matrix inequality.The state feedback controller can be constructed via the solution of a set of linear matrix inequalities.An example is given to verify the effectiveness of the method proposed.     

紧急度感知的混合业务分组调度策略

长期演进系统在分组交换域内承载业务,延迟和分组丢弃敏感的实时业务服务质量(quality of service,QoS)难以得到满足。根据业务优先级差异、业务对延迟的敏感度等约束条件,提出了一种基于虚拟队列的分组延迟预测方法,进而根据分组延迟的预测结果确定其对系统资源需求的紧急程度,随后根据分组紧急度对缓存中的分组采用分类调度策略,以最大化系统资源利用率。结果表明,本文提出的调度策略能够有效地提高实时业务的QoS,改善网络的性能。     

Quantized dynamic output feedback control for networked control systems

The problem of the quantized dynamic output feedback controller design for networked control systems is mainly discussed. By using the quantized information of the system measurement output and the control input, a novel networked control system model is described. This model includes many networkinduced features, such as multi-rate sampled-data, quantized signal, time-varying delay and packet dropout. By constructing suitable Lyapunov-Krasovskii functional, a less conservative stabilization criterion is established in terms of linear matrix inequalities. The quantized control strategy involves the updating values of the quantizer parameters μi(i = 1, 2)(μi take on countable sets of values which dependent on the information of the system measurement outputs and the control inputs). Furthermore, a numerical example is given to illustrate the effectiveness of the proposed method.     

Design of unknown input observer with H∞ performance for linear time-delay systems

A unknown input observer (UIO) design for a class of linear time-delay systems when the observer error can't completely decouple from unknown input is dealt with. A sufficient condition to its existence is presented based on Lyapunov stability method. Design problem of the proposed observer is formulated in term of linear matrix inequalities. Two design problems of the observer with internal delay and without internal delay are formulated. Based on H∞ control theory in time-delay systems, the proposed observer is designed in term of linear matrix inequalities (LMI). A design algorithm is proposed. The effective of the proposed approach is illustrated by a numerical example.     

基于UWB的工业控制系统的PA-MAC协议

由于UWB技术信道获取时间长,而在工业控制系统中短包通信较多,使得UWB应用到工业控制系统中性能严重下降。针对这一问题,在分析了CSMA/CA协议应用于基于UWB的工业控制系统中存在的问题的基础上,提出了基于UWB的工业控制系统专用的PA-MAC协议,设计了适应工业控制系统的缓存管理方法、包合并策略及合并包确认机制。通过建模仿真,分析了CSMA/CA协议和PA-MAC协议应用于基于UWB的工业控制系统中的相关指标,结果表明PA-MAC协议能够有效地提高时隙利用率,降低了平均时延。     

RHC-Based Consensus of Multi-Agent Systems with Simultaneous Packet Dropout and Input Delay

This paper is concerned with the multi-agent systems with both packet dropout and input delay. A novel receding horizon control (RHC) based consensus protocol is proposed by solving a distributed RHC based optimization problem. The novelty of the optimization problem lines in the involvement of the neighbours’ predictor information in the cost functions. Based on the derived RHC based consensus protocol, the necessary and sufficient condition for the mean-square consensus is obtained. In addition, the authors give a specific sufficient condition to guarantee the mean-square consensus.

     

基于节点分级的NNSs跨层MAC协议设计

针对组网导航系统(networked navigation systems, NNSs)中节点高速移动、能量受限及通信时滞的问题, 融合了基于移动汇聚节点的交叉路由树构建及链式分簇相结合的路由协议(cross routing tree construction based on mobile sink and chain clustering, CRTCC), 设计了一种基于节点分级的跨层媒介访问控制协议(medium access control protocol based on graded nodes, GN-MAC)。GN-MAC采取了基于竞争的媒介访问方式, 结合CRTCC协议特点定义GN-MAC包格式并完成具有多级别节点的自适应虚拟分簇, 同时设计了改进型节点移动性检测算法, 作出了最优簇间切换决策, 提出了基于优先级的竞争机制以及多信道通信机制。最后通过算例仿真, 验证了GN-MAC在节点高速移动和多移动节点情况下, 时滞和能耗得到了有效的控制。