摘要
基于网络QoS如延迟、丢包,建立网络化控制系统状态方程,通过双线性矩阵不等式(BMI)讨论在某种网络QoS下控制系统的稳定性,并以离散系统二次型性能指标为例设计最优LQR(linear quadratic regulator)控制器,得到保证系统控制性能的网络QoS约束。针对该约束,提出一种能够兼顾系统性能与网络QoS的网络化控制系统控制与调度协调设计方法。最后,通过仿真实验说明提出的协调设计方法的必要性和有效性。
This paper transferred the continuous-time control model to a digital form based on network QoS,such as networkinduced delay and packet dropout,and then,discussed the stability of the control system under the nonideal condition based on bilinear matrix inequality （ BMI）. Farther more,revised the discrete-time quadratic performance index to take network-induced delay into account. Based on the results above,designed a discrete LQR controller and proposed network QoS constraints to guarantee the performance of the control system. To satisfy the QoS constraints,proposed a co-design method of control and scheduling to guarantee both networked control performance and network QoS. Finally,presented a series of experiments based on truetime. And the results show that the scheme is effective and necessary.
出处
《计算机应用研究》
CSCD
北大核心
2010年第12期4738-4740,4746,共4页
Application Research of Computers
基金
国防基础科研资助项目(C2720061361)
