基于模糊观测器非线性网络系统控制方法.pdfVIP

2010 中国制导、导航与控制学术会议 (CGNCC 2010) 2010 年10 月16~18 日 中国 上海 基于模糊观测器的非线性网络系统控制方法 1 1 2 宋华 刘芳芳 C.W.Chan （1.北京航空航天大学 自动化科学与电气工程学院，北京 100191；2.香港大学 机械工程系，香港 510275) 摘 要：针对存在随机长时延和丢包的非线性网络控制系统，建立了基于模糊观测器的预测控制模型。 传感器、执行器由时间驱动，控制器由事件驱动，执行器根据系统时间和从传感器到执行器的总时延， 从标以时间戳的预测控制序列中选择适当的控制信号作用于控制对象，使得网络两端无需时间同步。 然后根据Lyapnov 稳定性理论，利用Schur 补引理和锥补线性化(CCL)算法分析了系统的稳定性，并 推导出模糊状态反馈控制器的设计方法。最后通过仿真实例验证了所提出方法的有效性。 关 键 词：网络控制系统；模糊观测器；预测控制；时间戳；CCL Fuzzy Observer Based Control for Nonlinear Networked Systems 1 1 2 Song Hua ，Liu Fang-fang ， C.W.Chan (1.School of Automatic Science and Electronic Engineering, Beihang University Beijing 100191, China; 2. Department of Mechanical Engineering, The University of Hong Kong, Hong Kong 510275, China) Abstract: Considering the nonlinear Networked Control Systems with long random time delay and data dropout in the forward and feedback channels, a predictive control model is designed based on fuzzy observer. The sensors and actuator are time-driven while the controller is event-driven. The actuator chooses appropriate control signals from the control sequences which are marked with time stamp, according to the system time and the round-trip delay from sensors to actuator, so it is not necessary to synchronize clocks of the two sides. Based on the common Lyapunov function and linear matrix inequality(LMI), the sufficient condition for the NCSs which is subject to the asymptotic stability is derived, and the method of the controller design is also given in terms of a group of LMIs. Finally, an example is given to va