【作者】 吴涛；

【导师】 朱淑倩；

【作者基本信息】 山东大学 ， 运筹学与控制论， 2023， 硕士

【摘要】 网络控制系统是一种通过通讯网络来连接传感器,执行器和控制器等系统组成部分的控制系统.与点对点连接方式的传统控制系统相比,网络控制系统具有安装和维护成本低,可靠性强等诸多优势,在无人机,机器人等领域得到广泛应用.然而,通讯网络不可避免会引入一些网络诱导约束,这些约束可能会对控制系统产生消极影响.比如,过大的通讯时延可能会恶化系统性能甚至使得系统不再稳定.因此,考虑网络诱导约束依赖的控制方法对于网络控制系统的研究工作具有重要意义.基于上述讨论,本文主要研究网络诱导约束依赖的两类控制方法及其车辆控制中的应用.本文的研究内容主要分为两个部分:(1)对线性网络控制系统的状态反馈控制问题,提出通讯时延范围依赖的H∞性能分析条件和状态反馈控制器设计方法.首先,提出一种改进的二元二次时滞凸分析引理,并从集合论的角度证明提出的二元二次时滞凸分析引理可以进一步松弛二元二次函数的负值判别条件.然后,构造一种新的非连续增广Lyapunov-Krasovskii泛函,以线性矩阵不等式形式给出通讯时滞和输入时滞范围依赖的H∞性能分析条件和控制器设计方法.最后,通过三个典型的数值算例说明稳定性条件具有较小的保守性,仿真结果验证控制器设计方法的有效性.(2)对于非线性网络控制系统的模糊状态反馈控制问题,提出异步偏差范围依赖的H∞)性能分析条件和模糊状态反馈控制器设计方法.首先,对非连续增广Lyapunov-Krasovskii泛函提供一个紧的下界估计,减弱对构造非连续增广Lyapunov-Krasovskii泛函的约束条件.进一步,以线性矩阵不等式形式给出异步偏差范围依赖的H∞性能分析条件和控制器设计方法.最后,研究结果被应用于网络化车辆控制,通过车辆模型的模糊系统建模和网络化控制确认所提方法的可行性和有效性.最后,对所做的工作进行总结和展望.更多还原

【Abstract】 Network control systems are a kind of control systems where sensors,actuators,and controllers are interconnected through a communication network.Compared with traditional point-to-point control systems,network control systems have many advantages,such as low installation and maintenance costs,strong reliability,etc.,and have been widely used in unmanned aerial vehicles,robots,and other fields.However,the communication network inevitably introduces some networkinduced constraints,which may have negative effects on the control system.For example,excessive communication delay may deteriorate system performance or even make the system unstable.Therefore,it is of great significance to consider the control method depending on network-induced constraints for the research of network control systems.Based on the above discussion,this thesis mainly studies two kinds of control methods depending on network-induced constraints and their applications in vehicle control.The research content of this thesis is mainly divided into two parts:(1)Communication-delay-range-dependent H∞ performance analysis condition and the state feedback controller design method are proposed for the state feedback control of linear networked control systems.Firstly,an improved binary quadratic delay convex analysis lemma is proposed,and it is proved that the proposed lemma can further relax the negative-determination conditions of binary quadratic functions from the perspective of set theory.Then,a novel discontinuous augmented Lyapunov-Krasovskii functional is constructed,and the H∞performance analysis condition and controller design method depending on communication delay and input delay range are given in the form of linear matrix inequalities.Finally,three typical numerical examples show that the stability condition is less conservative,and the simulation results verify the effectiveness of the controller design method.(2)Asynchronous-deviation-range-dependent H∞ performance analysis condition and the fuzzy state feedback controller design method are proposed for the fuzzy state feedback control of nonlinear networked control systems.Firstly,a tight lower bound of the discontinuous augmented Lyapunov-Krasovskii functional is provided.which reduces the constraints on the construction of LyapunovKrasovskii functional.Furthermore,the H∞ performance analysis condition and controller design method depending on asynchronous deviation bound are given in the form of linear matrix inequalities.Finally,the research results are applied to networked vehicle control,and the feasibility and effectiveness of the proposed method are confirmed by fuzzy system modeling and networked control of vehicle models.Finally,this thesis summarizes and prospects the work.更多还原