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Filtering and model predictive control of networked nonlinear systems.

机译：网络非线性系统的滤波和模型预测控制。

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摘要

Networked control systems (NCSs) present many advantages such as easy installation and maintenance, flexible layouts and structures of components, and efficient allocation and distribution of resources. Consequently, they find potential applications in a variety of emerging industrial systems including multi-agent systems, power grids, tele-operations and cyber-physical systems. The study of NCSs with nonlinear dynamics (i.e., nonlinear NCSs) is a very significant yet challenging topic, and it not only widens application areas of NCSs in practice, but also extends the theoretical framework of NCSs with linear dynamics (i.e., linear NCSs). Numerous issues are required to be resolved towards a fully-fledged theory of industrial nonlinear NCS design. In this dissertation, three important problems of nonlinear NCSs are investigated: The robust filtering problem, the robust model predictive control (MPC) problem and the robust distributed MPC problem of large-scale nonlinear systems.;In the robust filtering problem of nonlinear NCSs, the nonlinear system model is subject to uncertainties and external disturbances, and the measurements suffer from time delays governed by a Markov process. Utilizing the Lyapunov theory, the algebraic Hamilton-Jacobi inequality (HJI)-based sufficient conditions are established for designing the Hinfinity nonlinear filter. Moreover, the developed results are specialized for a special type of nonlinear systems, by presenting the HJI in terms of matrix inequalities.;For the robust MPC problem of NCSs, three aspects are considered. Firstly, to reduce the computation and communication load, the networked MPC scheme with an efficient transmission and compensation strategy is proposed, for constrained nonlinear NCSs with disturbances and two-channel packet dropouts. A novel Lyapunov function is constructed to ensure the input-to-state practical stability (ISpS) of the closed-loop system. Secondly, to improve robustness, a networked min-max MPC scheme are developed, for constrained nonlinear NCSs subject to external disturbances, input and state constraints, and network-induced constraints. The ISpS of the resulting nonlinear NCS is established by constructing a new Lyapunov function. Finally, to deal with the issue of unavailability of system state, a robust output feedback MPC scheme is designed for constrained linear systems subject to periodical measurement losses and external disturbances. The rigorous feasibility and stability conditions are established.;For the robust distributed MPC problem of large-scale nonlinear systems, three steps are taken to conduct the studies. In the first step, the issue of external disturbances is addressed. A robustness constraint is proposed to handle the external disturbances, based on which a novel robust distributed MPC algorithm is designed. The conditions for guaranteeing feasibility and stability are established, respectively. In the second step, the issue of communication delays are dealt with. By designing the waiting mechanism, a distributed MPC scheme is proposed, and the feasibility and stability conditions are established. In the third step, the robust distributed MPC problem for large-scale nonlinear systems subject to control input constraints, communication delays and external disturbances are studied. A dual-mode robust distributed MPC strategy is designed to deal with the communication delays and the external disturbances simultaneously, and the feasibility and the stability conditions are developed, accordingly.
机译：网络控制系统（NCS）具有许多优点，例如易于安装和维护，灵活的组件布局和结构以及有效的资源分配和分配。因此，他们在各种新兴工业系统（包括多代理系统，电网，远程操作和网络物理系统）中发现了潜在的应用。具有非线性动力学的NCS（即非线性NCS）的研究是一个非常重要但具有挑战性的课题，它不仅拓宽了NCS在实践中的应用领域，而且扩展了具有线性动力学的NCS（即线性NCS）的理论框架。 。对于成熟的工业非线性NCS设计理论，需要解决许多问题。本文研究了非线性NCS的三个重要问题：鲁棒滤波问题，鲁棒模型预测控制（MPC）问题和大规模非线性系统的鲁棒分布式MPC问题；在非线性NCS的鲁棒滤波问题中，非线性系统模型易受不确定性和外部干扰的影响，测量结果受马尔可夫过程控制的时间延迟的影响。利用李雅普诺夫理论，建立了基于代数汉密尔顿-雅各比不等式（HJI）的充分条件，用于设计Hinfinity非线性滤波器。此外，通过以矩阵不等式的形式给出HJI，开发的结果专门用于特殊类型的非线性系统。对于NCS的鲁棒MPC问题，考虑了三个方面。首先，为减少计算和通信负担，提出了一种具有有效传输和补偿策略的网络MPC方案，用于受约束的具有干扰和两通道丢包的非线性NCS。构造了一个新颖的Lyapunov函数，以确保闭环系统的输入状态实用稳定性（ISpS）。其次，为了提高鲁棒性，针对受外部干扰，输入和状态约束以及网络引起的约束的约束非线性NCS，开发了一种网络化的最小-最大MPC方案。通过构造新的Lyapunov函数来建立所得非线性NCS的ISpS。最后，为了解决系统状态不可用的问题，针对受周期测量损失和外部干扰影响的受约束线性系统设计了鲁棒的输出反馈MPC方案。建立了严格的可行性和稳定性条件。针对大型非线性系统的鲁棒分布式MPC问题，采取了三个步骤进行研究。第一步，解决外部干扰问题。提出了一种鲁棒性约束来处理外部干扰，在此基础上设计了一种新颖的鲁棒分布式MPC算法。分别建立了保证可行性和稳定性的条件。在第二步中，处理通信延迟问题。通过设计等待机制，提出了一种分布式MPC方案，并建立了可行性和稳定性条件。在第三步中，研究了受控制输入约束，通信延迟和外部干扰影响的大型非线性系统的鲁棒分布式MPC问题。设计了一种双模鲁棒分布式MPC策略，以同时处理通信时延和外部干扰，并据此开发了可行性和稳定性条件。

著录项

  • 作者

    Li, Huiping.;

  • 作者单位

    University of Victoria (Canada).;

  • 授予单位 University of Victoria (Canada).;
  • 学科 Engineering Electronics and Electrical.;Engineering Mechanical.
  • 学位 Ph.D.
  • 年度 2013
  • 页码 233 p.
  • 总页数 233
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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