A Non-Uniform Predictor-Observer for a Networked Control System

作者：Cuenca Angel^*; Garcia Pedro; Albertos Pedro; Salt Julian

来源：International Journal of Control Automation and Systems, 2011, 9(6): 1194-1202.

DOI：10.1007/s12555-011-0621-5

• LMI
• network delay
• networked control system
• packet disorder
• packet loss
• predictor-observer-based control

This paper presents a Non-Uniform Predictor-Observer (NUPO) based control approach in order to deal with two of the main problems related to Networked Control Systems (NCS) or Sensor Networks (SN): time-varying delays and packet loss. In addition, if these delays are longer than the sampling period, the packet disordering phenomenon can appear. Due to these issues, a (scarce) non-uniform, delayed measurement signal could be received by the controller. But including the NUPO proposal in the control system, the delay will be compensated by the prediction stage, and the non-available data will be reconstructed by the observer stage. So, a delay-free, uniformly sampled controller design can be adopted. To ensure stability, the predictor must satisfy a feasibility problem based on a time-varying delay-dependent condition expressed in terms of Linear Matrix Inequalities (LMI). Some aspects like the relation between network delay and robustness/performance trade-off are empirically studied. A simulation example shows the benefits (robustness and control performance improvement) of the NUPO approach by comparison to another similar proposal.

• 出版日期2011-12