【摘要】：網(wǎng)絡(luò)系統(tǒng)作為一個巨大的閉環(huán)控制系統(tǒng),是由許多模塊化的小型閉環(huán)控制系統(tǒng)組成的,并通過大量的傳感器、控制器和執(zhí)行器等節(jié)點連接起來.網(wǎng)絡(luò)系統(tǒng)中的數(shù)據(jù)包通過信道數(shù)據(jù)流量傳輸?shù)讲煌?jié)點,以實現(xiàn)遠程控制.當網(wǎng)絡(luò)繁忙時,節(jié)點中的數(shù)據(jù)包不能實現(xiàn)有效傳送,從而會造成網(wǎng)絡(luò)時延、網(wǎng)絡(luò)堵塞、數(shù)據(jù)丟失等現(xiàn)象.基于此,控制理論界的學(xué)者提出網(wǎng)絡(luò)控制系統(tǒng)的方法,有效解決了上述問題.本文基于改進型的Wirtinger不等式、Lyapunov控制理論,討論了一類網(wǎng)絡(luò)控制系統(tǒng)的魯棒穩(wěn)定性問題,并設(shè)計了許多不同性能的控制器.主要研究內(nèi)容如下:1.討論了一類簡單時延網(wǎng)絡(luò)系統(tǒng)的穩(wěn)定性,并建立了閉環(huán)系統(tǒng)模型.根據(jù)Lyapunov穩(wěn)定性第二方法構(gòu)造函數(shù),并保證其未知矩陣正定.將所構(gòu)造的函數(shù)沿系統(tǒng)方向求導(dǎo),通過限定時延范圍、增加控制參數(shù),并結(jié)合時滯分割法、改進型的Wirtinger不等式法對系統(tǒng)進行放縮,從而得到閉環(huán)系統(tǒng)的漸進穩(wěn)定的判據(jù),計算結(jié)果采用LMI形式表示.最后通過算例驗證了所提方法的可行性.2.討論了一類不確定時延網(wǎng)絡(luò)系統(tǒng)的穩(wěn)定性,并設(shè)計了閉環(huán)系統(tǒng)狀態(tài)反饋鎮(zhèn)定器.在滿足上面條件下增加不確定性項,依照Lyapunov穩(wěn)定性第二方法構(gòu)造函數(shù),并保證其未知矩陣正定.將所構(gòu)造的函數(shù)沿系統(tǒng)方向求導(dǎo),通過限定時延范圍、增加控制參數(shù),并結(jié)合時滯分割法、Schur引理、結(jié)合積分不等式、改進型的Wirtinger不等式法對系統(tǒng)進行放縮,從而得到不確定時延網(wǎng)絡(luò)系統(tǒng)的漸進穩(wěn)定的判據(jù),并設(shè)計了閉環(huán)系統(tǒng)狀態(tài)反饋鎮(zhèn)定器.計算結(jié)果采用LMI形式表示.最后通過算例驗證了所提方法的可行性.3.針對了一類網(wǎng)絡(luò)閉環(huán)系統(tǒng)的魯棒保性能控制器存在性的問題,設(shè)計了魯棒保性能控制器.首先,給出魯棒保性能控制器的定義.接著,根據(jù)Lyapunov穩(wěn)定性第二方法構(gòu)造函數(shù),并保證其未知矩陣正定.將所構(gòu)造的函數(shù)沿系統(tǒng)方向求導(dǎo),通過限定時延范圍,并結(jié)合時滯分割法、改進型的Wirtinger不等式法對系統(tǒng)進行放縮,從而得到確定時延網(wǎng)絡(luò)系統(tǒng)魯棒保性能控制器存在判據(jù).運用相同方法對不確定性的網(wǎng)絡(luò)閉環(huán)系統(tǒng)的性能進行研究,結(jié)合積分不等式和Schur引理,從而得到不確定時延網(wǎng)絡(luò)系統(tǒng)魯棒保性能控制器存在判據(jù),并設(shè)計了魯棒保性能控制器.計算結(jié)果采用LMI形式表示.最后通過算例驗證了所提方法的可行性.4.針對了一類不確定網(wǎng)絡(luò)系統(tǒng)的外部抗干擾控制器存在性的問題,設(shè)計了魯棒H?控制器.首先,給出擾動抑制不等式的定義.接著,根據(jù)Lyapunov穩(wěn)定性第二方法構(gòu)造函數(shù),并保證其未知矩陣正定.將所構(gòu)造的函數(shù)沿系統(tǒng)方向求導(dǎo),通過限定時延范圍,并結(jié)合時滯分割法、Schur引理、結(jié)合積分不等式、改進型的Wirtinger不等式法對系統(tǒng)進行放縮,從而得到不確定時延網(wǎng)絡(luò)系統(tǒng)魯棒H?控制器存在判據(jù),并設(shè)計了閉環(huán)系統(tǒng)魯棒H?控制器.計算結(jié)果采用LMI形式表示.最后通過算例驗證了所提方法的可行性.
[Abstract]:As a huge closed-loop control system, the network system is composed of many small modular closed-loop control systems connected by a large number of sensors, controllers and actuators. Data packets in the network system are transmitted to different nodes through the channel data flow to achieve remote control. When the network is busy, the section In this paper, based on the improved Wirtinger inequality and Lyapunov control theory, a class of networked control systems is discussed. The main research contents are as follows: 1. The stability of a class of simple delay network systems is discussed and the closed-loop system model is established. According to the second method of Lyapunov stability, the function is constructed and its unknown matrix is guaranteed to be positive definite. By limiting the time delay range, increasing the control parameters and combining with the time delay splitting method, the improved Wirtinger inequality method is used to scale the closed-loop system to obtain the criterion of asymptotic stability. The results are expressed in the form of LMI. Finally, the feasibility of the proposed method is verified by an example. 2. A class of uncertain time-delay network is discussed. A state feedback stabilizer for closed-loop systems is designed. The uncertainties are added to satisfy the above conditions, and the function is constructed according to the Lyapunov stability second method, and the unknown matrix is guaranteed to be positive definite. By using Schur's lemma and integral inequality, the improved Wirtinger inequality method is used to scale the system. The criterion for asymptotic stability of uncertain network systems with time-delay is obtained. A closed-loop state feedback stabilizer is designed. The results are expressed in the form of LMI. Finally, the feasibility of the proposed method is verified by an example. In this paper, the existence of robust guaranteed cost controllers for a class of network closed-loop systems is considered, and robust guaranteed cost controllers are designed. Firstly, the definition of robust guaranteed cost controllers is given. The existence criterion of robust guaranteed cost controllers for networked systems with time-delay is obtained by scaling the system with time-delay partitioning method and the improved Wirtinger inequality method. The results are expressed in the form of LMI. Finally, the feasibility of the proposed method is verified by an example. 4. A robust H? Controller is designed to solve the problem of the existence of an external anti-jamming controller for a class of uncertain network systems. Then, according to the second method of Lyapunov stability, the function is constructed and the unknown matrix is guaranteed to be positive definite. The function is derived along the direction of the system, and the system is scaled down by defining the time delay range, combining with the time delay partition method, Schur lemma, integral inequality and the improved Wirtinger inequality method. The existence criterion of robust H? Controllers for uncertain network systems with time-delay is obtained and the closed-loop robust H? Controllers are designed. The results are expressed in the form of LMI.
【學(xué)位授予單位】：廣西師范學(xué)院
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273

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