基于时延和丢包网络控制系统的容错控制研究

发布时间：2018-04-11 12:03

本文选题：网络控制系统 + 容错控制　；参考：《沈阳工业大学》2017年硕士论文

【摘要】：网络控制系统(Networked Control Systems,NCSs)在远程手术、无人机以及自动公路体系等许多领域具备广泛的应用。但是,相对于传统的控制体系,网络不可避免地会带来一些问题,如传输延迟和数据丢包等。同时,由于执行器与传感器节点要处理较多复杂的控制工作,极易发生失效故障,从而影响系统稳定性。因而,NCSs的容错控制具备很好的理论研讨价值空间和现实背景。本文分别针对具备单边丢包、双边丢包和不确定因素长时延NCSs,进行容错控制研究。主要内容如下:(1)对本文的研究背景、目的及意义进行了介绍,同时简略介绍了NCSs存在的几个主要问题,并介绍了一些相关预备知识。(2)研究存在传感器-控制器链路数据丢包的长时延NCSs的容错控制问题。在有无外界扰动向量的状况下,分别进行执行器失效时NCSs容错控制器的设计。通过引入一类具备随机性的开关矩阵,建立带有随机外界扰动向量的丢包长时延NCSs的增广模型。应用?H控制理论,构建相应的Lyapunov函数,经过求解矩阵不等式获得相应的状态反馈控制器,并给出系统具备渐近稳定性的充分条件。最后,经过仿真算例结果验证本章所得出的方法的可行性及有效性。(3)分别针对同时具备双边任意丢包、双边随机丢包及时延大于一个采样周期的NCSs,研究了NCSs的容错控制问题。控制器-执行器之间和传感器-控制器之间的丢包过程分别被描述为具备两个随机切换的开关、两个状态的齐次Markov链。通过构建相应的Lyapunov函数设计状态反馈控制器,得到执行器失效时闭环系统稳定的充分条件。仿真算例结果表明了容错控制方式的可行性。(4)研究带有长时延的不确定NCSs的容错控制问题。考虑传感器-控制器之间的数据包发生丢失对系统的影响,引入传感器任意失效矩阵,建立具备不确定状态的NCSs的增广模型,结合Lyapunov方法,结合?H控制理论,给出NCSs对传感器任意失效具备完整性、对不确定性因素具备鲁棒稳定性的充分条件。经由仿真算例证实本章容错控制的有效性。(5)概括本文的研究内容,并对以后的研究作出展望。
[Abstract]:Networked Control Systems (NCSs) has been widely used in many fields, such as remote operation, UAV and automatic highway system.However, compared with the traditional control system, the network inevitably brings some problems, such as transmission delay and data packet loss.At the same time, because the actuator and sensor nodes have to deal with more complex control work, it is easy to fail, which affects the stability of the system.Therefore, the fault-tolerant control of NCSs has a good theoretical research value space and practical background.In this paper, fault-tolerant control is studied for NCSs with one-sided packet loss, bilateral packet loss and long delay of uncertainty.The main contents are as follows: (1) the research background, purpose and significance of this paper are introduced. At the same time, several main problems existing in NCSs are briefly introduced.The fault tolerant control problem of long delay NCSs with sensor controller link data loss is also introduced.The NCSs fault-tolerant controller with or without external disturbance vectors is designed for actuator failure.By introducing a random switching matrix, an augmented model of NCSs with long packet loss delay with random external disturbance vectors is established.The corresponding Lyapunov function is constructed by using the control theory of H, and the corresponding state feedback controller is obtained by solving matrix inequalities, and the sufficient conditions for the asymptotic stability of the system are given.Finally, the feasibility and effectiveness of the method presented in this chapter are verified by simulation examples. (3) the fault tolerant control problem of NCSs is studied for those NCSs with bilateral random packet loss and bilateral random packet loss with more than one sampling period.The packet loss process between controllers and actuators and between sensors and controllers is described as a homogeneous Markov chain with two random switches and two states.By constructing the corresponding Lyapunov function to design the state feedback controller, a sufficient condition for the stability of the closed-loop system when the actuator fails is obtained.The simulation results show that the fault-tolerant control method is feasible. 4) the fault-tolerant control problem of uncertain NCSs with long delay is studied.Considering the effect of packet loss between sensors and controllers on the system, an augmented model of NCSs with uncertain state is established by introducing any sensor failure matrix, combining with Lyapunov method and H control theory.Sufficient conditions for NCSs to have integrity for arbitrary failure of sensors and robust stability for uncertain factors are given.The effectiveness of fault-tolerant control in this chapter is verified by a simulation example.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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