Robust Tracking Control of Networked Control Systems: Application to a Networked DC Motor

This paper investigates robust H 2 and H ∞ step tracking control methods for networked control systems subject to random time delays modeled by Markov chains. To make full use of the delay information, the proposed two-mode dependent output feedback controller depends on both sensor-to-controller an...

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Veröffentlicht in:IEEE transactions on industrial electronics (1982) Jg. 60; H. 12; S. 5864 - 5874
Hauptverfasser: Shi, Yang, Huang, Ji, Yu, Bo
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.12.2013
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Actuators
Augmentation
Control systems
Delay
Delay effects
Direct current
Disturbance rejection
Electric motors
Linear systems
Markov chains
Markov processes
Networked control systems
networked control systems (NCSs)
Output feedback
step tracking
Studies
Synchronization
time delays
Tracking control
{\cal H}_{2} control and {\cal H}_{\infty} control
ISSN:0278-0046, 1557-9948
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Zusammenfassung:This paper investigates robust H 2 and H ∞ step tracking control methods for networked control systems subject to random time delays modeled by Markov chains. To make full use of the delay information, the proposed two-mode dependent output feedback controller depends on both sensor-to-controller and controller-to-actuator delays. To actively compensate for the controller-to-actuator delays, we propose the "send all, apply one" scheme: Sending a sequence of control signals, then at the actuator/plant node, applying the appropriate control signal according to the actual controller-to-actuator delay. Using the augmentation method, the resulting closed-loop system can be formulated as a discrete-time Markovian jump linear system. The H 2 and H ∞ step tracking problems are tackled by solving a set of linear matrix inequalities with nonconvex constraints. Both numerical simulations and experiments on a networked dc motor system are conducted to illustrate the effectiveness of the proposed methods.
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ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2012.2233692