基于观测器的网络控制系统镇定和鲁棒控制研究

发布时间：2018-06-05 07:32

  本文选题：网络控制系统 + 变采样周期　； 参考：《郑州大学》2017年硕士论文

【摘要】：网络控制系统具有安装成本低、便于维护等优势,在现代控制领域中得到了越来越广泛的应用。网络控制系统是一种分布式系统,包含传感器、执行器、以及控制器等,各部件按照预定的传输协议通过网络进行彼此间的通讯。由于通过网络进行信息的传递,在网络控制系统中存在传输时滞、信息包丢失等问题,为系统的分析和控制造成新的困难,网络控制系统的建模与控制研究得到了越来越多控制理论和应用研究人员的关注。本文采用马尔科夫链模型对网络控制系统进行建模,进而研究其镇定和鲁棒控制问题,所取得的主要研究成果如下:1、对网络控制系统中存在诱导时延、状态不易测量等问题,提出一种基于状态观测器的均方指数镇定控制器设计方法。利用变周期采样方式对系统采样,建立了系统的马尔科夫跳变模型,得到闭环系统的均方指数稳定性条件,最后给出了满足线矩阵不等式形式的观测器和控制器反馈增益的设计方法。数值算例和网络环境下车摆系统的镇定控制研究表明了控制器设计方案的有效性。2、研究了具有随机时延与随机干扰的网络控制系统的鲁棒镇定控制问题。利用变周期采样方式对系统采样,在状态转移概率部分未知条件下建立了系统的马尔科夫跳变模型,提出了基于状态观测器的鲁棒控制器设计方案,分析了闭环系统的稳定性和H_∞性能指标,最后给出了满足线矩阵不等式形式的观测器和控制器反馈增益的设计方法,数值算例和网络环境下车摆系统的鲁棒控制仿真研究验证了所提出的鲁棒镇定控制方案的有效性。
[Abstract]:Network control system has been widely used in modern control field because of its advantages of low installation cost and easy maintenance. Network control system is a distributed system, which includes sensors, actuators, controllers and so on. The components communicate with each other through the network according to the predetermined transmission protocol. Due to the transmission of information through the network, there are some problems in the networked control system, such as delay of transmission and loss of information packet, which makes the analysis and control of the system more difficult. More and more researchers pay attention to the modeling and control of networked control systems. In this paper, the Markov chain model is used to model the networked control system, and then the stabilization and robust control problems are studied. The main research results are as follows: 1. There are some problems in the networked control system, such as induced delay, difficult to measure the state, and so on. A design method of mean square exponential stabilization controller based on state observer is proposed. The Markov jump model of the system is established by sampling the system with variable period sampling method, and the stability condition of the mean square exponent of the closed-loop system is obtained. Finally, the design method of observer and controller feedback gain satisfying linear matrix inequality is presented. Numerical examples and stabilization control of the system in the network environment show the effectiveness of the controller design scheme. The robust stabilization control problem of the networked control system with stochastic delay and stochastic disturbance is studied. By sampling the system with variable period sampling method, the Markov model of the system is established under the condition of partial unknown state transition probability, and a robust controller design scheme based on state observer is proposed. The stability and H _ 鈭，

本文编号：1981175