【作者】 王颖；

【导师】 李春吉；

【作者基本信息】 东北大学 ， 运筹学与控制论， 2013， 硕士

【摘要】 网络控制系统(Networked Control System, NCS)是一个集通信网络和控制系统于一体的系统.它具有信息资源共享、连线少、易于扩展、易于维护、高效率、高可靠性及灵活等很多优点.但由于控制系统中网络环节的引入,而网络通信的带宽有限,因此不可避免的存在着信息的传输时延、碰撞、时序错乱,甚至数据包丢失等现象,从而导致系统不稳定.因此,在网络控制系统中有待于深入研究.本文将系统描述成一类具有时变时延和参数不确定项的网络控制系统,并比较巧妙的包含了网络诱导时延、数据包丢失、数据包错乱以及外部扰动等因素,使得系统模型更加地符合现实情况.对建立模型的控制等问题进行研究；在研究过程中应用Lyapunov稳定性理论、线性矩阵不等式(LMI)方法、牛顿-莱布尼茨公式以及自由权矩阵方法等方法来推导系统的渐近稳定性和满足一定性能指标的的充分条件,并在此基础上相应的给出了具有较小保守性的控制律的设计方法.具体研究的主要内容如下：1.研究了不确定时延网络控制系统的鲁棒控制问题：对于建立的系统模型,利用Lyapunov稳定性理论、线性矩阵不等式、自由权矩阵方法以及牛顿-莱布尼茨公式法证明系统鲁棒稳定的充分条件,同时给出一种鲁棒稳定控制律的设计方法.2.研究了不确定时延网络控制系统的保性能控制问题：在系统满足渐近稳定的前提下,根据系统模型提出的相应性能指标,通过选取适当的Lyapunov函数,利用Lyapunov稳定性理论和线性矩阵不等式(LMI)方法,得到了满足性能指标的保性能控制律.3.研究了不确定时延网络控制系统的鲁棒H∞控制：在已建立的模型的基础上,针对存在有限能量外部扰动的情况,首先加入相应的外部扰动建立新的系统模型,其次利用Lyapunov稳定性理论和线性矩阵不等式(LMI)方法,给出系统满足鲁棒渐近稳定的充分条件,最后利用该条件给出一种设计鲁棒H∞控制器的方法.更多还原

【Abstract】 Networked control system (NCS) is the collection communication network and control system in one of the more complicated control system. It has many advantages, such as resource sharing, less connection, easier expansion and maintenance, high efficiency, reliability and flexibility, etc. However, because of introducing the network into traditional control system and the limits of the network bend, so that it is inevitable that there exits the networked-induced delay, message collision, time sequence confusion and data packet dropout etc. They degrade the performance of control systems. Therefore, a research is needed in networked control systems.In this thesis, the system is to be controlled as a class of networked control system with time-varying delay and parameter uncertainties, some factors are ingeniously taken into account appropriately, such as the network-induced delay, packets loss and out-of-order packets, as well as external interference, making the model of more system close to reality. Based on the built control model, we discuss several common control problems, in which we use Lyapunov stability theory, linear matrix inequalities approach, formula of Newton-Leibniz and free weighting matrices method to get the sufficient condition of system meeting the asymptotical stability and guaranteed a certain performance index, and based on this, we attain the corresponding designing method for control law with less conservation. This article discusses the following major elements:1. The robust control of the uncertain networked control system with time delay:Based on the establishment of the system’s model, making use of Lyapunov stability theory and linear matrix inequality (LMI) approach to prove a sufficient condition for the robust stability, while a robust stable control law design method was given.2. The robust guaranteed control of the uncertain networked control system with time delay:On the premise of the system satisfying the asymptotic stability, based on the performance index proposed by the system model, by choosing a suitable Lyapunov function, via Lyapunov stability theory and the linear matrix inequality(LMI) approach, we get a guaranteed cost control law.3. The robust H∞ control of the uncertain networked control system with time delay:For the presence of external disturbances with finite energy on the basis of the existing model, fist we add the external disturbances with finite energy to the existed model and then we get the new system model, second by the Lyapunov stability theory and the linear matrix inequality(LMI) approach proving the sufficient condition that the new system satisfies the robust stability, and then we obtain the way to design the robust H∞ controller.更多还原