基于递阶多模型切换的网络化控制系统

针对网络诱导时延的不确定特性,提出了一种递阶多模型切换控制的策略,以减小网络诱导时延不确定性带来的不利影响.考虑到网络带宽有限,为了减少全局控制信息的传送,将控制系统分为主控制器级和局部控制器级两层递阶结构.在系统运行过程中,根据网络诱导时延和当前子系统最大允许时延的关系选择最佳的局部控制器.应用公共李雅普诺夫函数法,分析得到了系统稳定的条件.通过数值仿真比较验证了该算法的有效性.

Networked control systems through hierarchical and multiple models switching

Considering the uncertain network-induced delay in networked control systems,a novel strategy of hierarchical multiple models switching was presented,in which hierarchical structure was adopted to reduce the communication through the shared band-limited network.The hierarchical control structure consisted of a main controller and a family of local controllers.Based on the relationship between delay and the maximum allowable delay bound,the suitable local controller was selected.The stability condition was derived based on the common Lyapunov technique.At last,the numerical example show that our control strategy is better than the other two ones.