北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (12): 2392-2399.doi: 10.13700/j.bh.1001-5965.2016.0931

• 论文 • 上一篇    下一篇

分层网络控制系统的分布式H控制

谢蓉华, 樊卫华, 陈庆伟   

  1. 南京理工大学 自动化学院, 南京 210094
  • 收稿日期:2016-12-09 修回日期:2017-03-10 出版日期:2017-12-20 发布日期:2017-04-18
  • 通讯作者: 樊卫华 E-mail:fanweihua@njust.edu.cn
  • 作者简介:谢蓉华,女,博士研究生,讲师。主要研究方向:网络控制系统;樊卫华,男,博士,副教授。主要研究方向:网络控制系统;陈庆伟,男,博士,教授,博士生导师。主要研究方向:智能控制与智能系统,网络控制系统。
  • 基金资助:
    国家自然科学基金(61673219);江苏省高校优秀中青年教师和校长境外研修项目;江苏省前瞻性联合研究项目(BY2016004-07);江苏省“六大人才高峰”项目(XNYQC-CXTD-001);天津市科技重大专项与工程项目(15ZXZNGX00250)

Distributed H control for hierarchical networked control system

XIE Ronghua, FAN Weihua, CHEN Qingwei   

  1. Automation School, Nanjing University of Science and Technology, Nanjing 210094, China
  • Received:2016-12-09 Revised:2017-03-10 Online:2017-12-20 Published:2017-04-18
  • Supported by:
    National Natural Science Foundation of China (61673219); Jiangsu Overseas Research & Training Program for University Prominent Young & Middle-aged Teachers and Presidents; Jiangsu Foresight Joint Research Project (BY2016004-07); Jiangsu Six Talents Peaks Project of Province under Grant (XNYQC-CXTD-001); Tianjin Major Projects of Science and Technology under Grant (15 ZXZNGX00250)

摘要: 针对在现代工业、航空航天等领域具有广泛应用的分层网络控制系统无法采用集中控制方式的问题,研究了分层网络控制系统的分布式H控制。首先,考虑网络诱导时延、数据包丢失和全局信息不可全部获取的情形,提出了分层网络控制系统的分布式控制策略,并将网络控制系统建模为具有分布式时变时延的离散切换系统。其次,基于Lyapunov-Krasovskii函数法,给出了系统稳定且满足给定H性能要求的充分条件,该条件依赖于时延上界信息并具有较弱的保守性。利用锥补线性化方法,将控制器设计转化为具有线性矩阵不等式形式的优化问题,给出了控制器设计的迭代算法。最后,利用仿真算例,验证了所提方法的有效性。

关键词: 网络控制系统, 分布式控制, Lyapunov-Krasovskii函数, 网络诱导时延, 数据包丢失

Abstract: Considering the centralized control mode cannot be used in hierarchical networked control system which is widely applied in the fields of modern industry, aerospace, etc., the distributed H control for the hierarchical networked control system is studied. First, considering the network induced delay, data packet loss and partial information available, a distributed control law for hierarchical networked control system is proposed. And the closed-loop networked control system is modeled as a switched discrete system with distributed time varying delay. Second, based on Lyapunov-Krasovskii functional method, a sufficient condition for system stability and to satisfy the requirement of given H performance index is deduced, which is less conservative and depends on the upper bound of the delay. Using cone complement linearization method, the controller design is converted to an optimal problem with linear matrix inequalities, and an iterative approach for controller design is given. Finally, a simulation example is used to validate the effectiveness of the proposed method.

Key words: networked control system, distributed control, Lyapunov-Krasovskii function, network induced delay, data packet loss

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