具有多传输通道系统的网络化预测控制
Networked predictive control for systems with multiple communication channels

本文研究了一类具有多传输通道网络化系统的控制问题, 基于网络化预测控制方法, 提出了一种改进型的分布式预测补偿方式, 从而更有效地利用反馈数据来提高控制系统的性能. 对闭环网络化预测控制系统进行分析, 得到其稳定性条件, 特别地, 在模型精确已知和多传输通道的时延为定常的情况下, 该条件将会退化为本地控制的闭环系统稳定性条件. 上述结论的好处是网络化预测控制系统中状态观测器和控制器的设计可以参考本地控制. 通过球杆系统算例验证本文所提方法的正确性和有效性.
This paper investigates the control for a class of networked systems with multiple communication channels. Based on the networked predictive control strategy, a modified compensation scheme with distributed prediction is proposed to make better use of the feedback information for improving the control performance. Stability analysis is carried out for the closed-loop networked predictive control system and the stability condition is derived. Particularly, when the system model is accurate and the multiple distributed delays are constant, the stability condition is degenerated to that of the local control. This result is helpful in the design of networked predictive control systems since the observer and controller gain matrices can be designed according to the local control requirements and without considering the network. A ball-and-beam system example is given to illustrate the feasibility and effectiveness of the proposed method.