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题名	网络化系统的控制器设计与稳定性分析
作者	孙健
学位类别	工学博士
答辩日期	2007-03-30
授予单位	中国科学院研究生院
授予地点	中国科学院自动化研究所
导师	刘国平
关键词	网络化控制系统 网络延时 丢包 时滞系统 鲁棒控制 线性矩阵不等式 稳定性 非线性系统 networked control systems network delay data dropout time-delay systems robust control linear matrix inequality (LMI) stability nonlinear systems
其他题名	Controller design and stability analysis of networked systems
学位专业	控制理论与控制工程
中文摘要	通过实时通信网络以实现控制系统中各个组成部分(如：传感器、控制器、执行器)之间的信息交换、资源共享的一类反馈控制系统被称为网络控制系统。与传统的点对点结构相比，网络控制系统具有便于实现远程操作与控制、故障诊断能力强、易于安装与维护，成本低、灵活性好和可靠性高等优点。但是，网络在给控制系统带来诸多好处的同时，随之而来的诸如网络延时、丢包等问题也使控制系统的分析与设计变得十分复杂。 本论文以Lyapunov稳定性理论为基础，利用线性矩阵不等式和凸优化技术，采用状态空间模型，借鉴时滞系统、鲁棒控制的有关理论和方法积极在理论上进行创新，着眼于减小结果的保守性，提出了网络控制系统新的稳定性条件和控制器设计方法。 将网络控制系统建模成具有参数不确定性的离散时滞系统。基于这个模型，推导出了系统渐近稳定的线性矩阵不等式条件。通过求解稳定性条件得到了系统的状态反馈控制器。 通过在执行器端设置缓冲器并且以采样速率N倍的速率求取其中的数值，将网络控制系统建模成具有多个时变输入时滞的离散系统。在此模型的基础上，推导了系统渐近稳定的时滞相关条件。通过求解该条件得到了系统的H∞控制器。 设计了一种能利用具有延时的传感器测量信号估计系统当前状态的观测器，并利用得到的系统当前状态的估计值来计算反馈控制量。通过引入新的Lyapunov泛函，得到了增广系统渐近稳定的充分性条件。利用锥补线性化的方法求解出控制器与观测器的增益。 将网络控制系统建模成具有分段连续延时的时滞系统，在此基础上重点分析了系统的稳定性。通过引入新的增广形式的Lyapunov-Krasovskii泛函，首先分析了时滞系统的稳定性，得到了具有较小保守性的稳定性判据。然后将得到的稳定性条件推广到网络控制系统，并考虑了系统的H∞控制问题。 研究了一类具有二次约束的非线性网络化系统的基于状态观测器的控制方法。推导了系统渐近稳定的充分性条件，给出了求解观测器与控制器增益的方法。 针对一类非线性网络控制系统，研究了系统状态反馈控制器和输出反馈控制器的设计方法。尤其是给出两种计算输出反馈控制器增益的方法，并对这两种方法进行了比较。 采取模型变换的方法，得到了网络控制系统的记忆反馈控制器。通过建立新的Lyapunov-Krasovskii泛函，得到了保守性较小的系统渐近稳定的充分性条件。利用一种迭代算法求解出了控制器增益。 最后，总结了本论文的研究工作并对未来的研究方向进行了展望。
英文摘要	Feedback control systems wherein the control loops are closed through a real-time network are called Networked Control Systems (NCSs). The defining feature of an NCS is that a network is used to exchange information and share resources among control system components (sensor, controller, actuator, etc.). The major advantages of NCSs over point-to-point control systems include facility of remote operation and control, ease of diagnosis, installation and maintenance, low cost, high reliability, etc. However, some problems such as network-induced delay and data dropout along with the introduction of a network make the analysis and design of NCSs very complex. On the basis of Lyapunov stability theory and robust control theory, some less conservative stability conditions and new controller design methods for NCSs are proposed in this dissertation. For NCSs modeled as discrete-time delay systems with parameter uncertainties, on the basis of the model, stability conditions are derived in terms of LMIs. By solving these LMIs, a state feedback controller is obtained. For NCSs modeled as discrete-time systems with time-varying input delay through setting a receiving buffer at the actuator node and reading it at a higher frequency, delay-dependent stability conditions are derived. The design problem of H∞ controller is studied. A state observer is designed to estimate current states of the system using the delayed output. By constructing a new Lyapunov functional, a sufficient stability condition is obtained. The controller and observer gains are obtained using the cone complementarity linearization algorithm. For NCSs modeled as systems with piecewise delay, by constructing a new augmented Lyapunov-Krasovskii fucntional, less conservative stability conditions are established. The design problem of H∞ controller is discussed based on the obtained stability conditions. The observe-based control for a class of NCSs with quadratic constraints is addressed. A sufficient stability condition is derived and a method of calculating the controller and observer gains is proposed. The design problem of a state feedback controller and an output feedback controller for a class of NCSs with nonlinear perturbations are considered. Methods of calculating the controller and observer gains are proposed. By introducing a model transformation, a memory feedback controller for NCSs is proposed. Less conservative stability conditions are obtained by introducing a new Lyapunov-Krasovskii functional. An iterative algorithm is used to compute the controller gain. Finally, the conclusions are drawn and several prospects of future study are formulated.
语种	中文
其他标识符	200418014628025
内容类型	学位论文
源URL	[http://ir.ia.ac.cn/handle/173211/5961]
专题	毕业生_博士学位论文
推荐引用方式 GB/T 7714	孙健. 网络化系统的控制器设计与稳定性分析[D]. 中国科学院自动化研究所. 中国科学院研究生院. 2007.

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