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首页> 外文期刊>IEEE Transactions on Automatic Control >Tracking Control for Nonlinear Networked Control Systems
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Tracking Control for Nonlinear Networked Control Systems

机译：非线性网络控制系统的跟踪控制

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摘要

We investigate the tracking control of nonlinear networked control systems (NCS) affected by disturbances. We consider a general scenario in which the network is used to ensure the communication between the controller, the plant and the reference system generating the desired trajectory to be tracked. The communication constraints induce non-vanishing errors (in general) on the feedforward term and the output of the reference system, which affect the convergence of the tracking error. As a consequence, available results on the stabilization of equilibrium points for NCS are not applicable. Therefore, we develop an appropriate hybrid model and we give sufficient conditions on the closed-loop system, the communication protocol and an explicit bound on the maximum allowable transmission interval guaranteeing that the tracking error converges to the origin up to some errors due to both the external disturbances and the aforementioned non-vanishing network-induced errors. The results cover a large class of the so-called uniformly globally asymptotically stable protocols which include the well-known round-robin and try-once-discard protocols. We also introduce a new dynamic protocol suitable for tracking control. Finally, we show that our approach can be used to derive new results for the observer design problem for NCS. It has to be emphasized that the approach is also new for the particular case of sampled-data systems.
机译：我们研究了受干扰影响的非线性网络控制系统（NCS）的跟踪控制。我们考虑一种通用方案，其中使用网络来确保控制器，工厂和参考系统之间的通信，从而生成要跟踪的所需轨迹。通信限制会在前馈项和参考系统的输出上引起不消失的错误（通常），这会影响跟踪误差的收敛。因此，关于NCS平衡点稳定的可用结果不适用。因此，我们开发了一个合适的混合模型，并在闭环系统，通信协议和最大允许传输间隔上给出了明确的条件，从而保证了跟踪误差收敛到原点，直到由于两个原因造成的一些误差为止。外部干扰和上述非消失性网络引起的错误。结果涵盖了一大类所谓的全局全局渐近稳定协议，其中包括众所周知的循环协议和尝试一次丢弃协议。我们还介绍了适用于跟踪控制的新动态协议。最后，我们证明了我们的方法可用于得出NCS观测器设计问题的新结果。必须强调的是，这种方法对于采样数据系统的特殊情况也是新的。

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