摘 要
近年微電子、信息網(wǎng)絡(luò)和控制理論與技術(shù)飛速發(fā)展，多樣化傳感器、智能化控制器和高精度驅(qū)動(dòng)設(shè)備的問世給網(wǎng)絡(luò)控制系統(tǒng)的發(fā)展提供了物質(zhì)基礎(chǔ)。高速公共網(wǎng)絡(luò)和工業(yè)現(xiàn)場(chǎng)總線技術(shù)的不斷發(fā)展和成功應(yīng)用加速了網(wǎng)絡(luò)控制系統(tǒng)的可靠性和開放性問題的研究，促進(jìn)了網(wǎng)絡(luò)控制系統(tǒng)在現(xiàn)代航空、精密制造以及遠(yuǎn)程醫(yī)療等控制領(lǐng)域的廣泛應(yīng)用。網(wǎng)絡(luò)控制系統(tǒng)充分體現(xiàn)了可以實(shí)現(xiàn)資源共享和遠(yuǎn)程分布控制、系統(tǒng)構(gòu)建模塊化、集成化、成本低、故障診斷和維護(hù)方便、易擴(kuò)展、靈活性強(qiáng)等優(yōu)勢(shì)。但是，由于通信機(jī)制和通信協(xié)議的原因，以及網(wǎng)絡(luò)的帶寬有限且為系統(tǒng)中各節(jié)點(diǎn)所共享，當(dāng)各節(jié)點(diǎn)通過控制網(wǎng)絡(luò)交換數(shù)據(jù)時(shí)，往往會(huì)出現(xiàn)數(shù)據(jù)碰撞、網(wǎng)絡(luò)擁堵、網(wǎng)絡(luò)間接性中斷等現(xiàn)象，不可避免地網(wǎng)絡(luò)控制系統(tǒng)就會(huì)產(chǎn)生數(shù)據(jù)傳輸時(shí)延和數(shù)據(jù)包丟失等問題。這些問題會(huì)降低控制系統(tǒng)性能，嚴(yán)重時(shí)使系統(tǒng)失穩(wěn)。因此，本文考慮了包含網(wǎng)絡(luò)時(shí)延、數(shù)據(jù)丟包和系統(tǒng)外有限能量干擾等情況的網(wǎng)絡(luò)控制系統(tǒng)，先確定要設(shè)計(jì)的網(wǎng)絡(luò)控制系統(tǒng)性能指標(biāo)，從控制網(wǎng)絡(luò)的服務(wù)質(zhì)量出發(fā)，研究網(wǎng)絡(luò)控制系統(tǒng)的建模、穩(wěn)定性分析、魯棒 最優(yōu)控制和 濾波器設(shè)計(jì)等問題，主要工作如下：
研究了具有短時(shí)延和外部有限能量擾動(dòng)的動(dòng)態(tài)輸出反饋網(wǎng)絡(luò)控制系統(tǒng)，控制器采用具有動(dòng)態(tài)補(bǔ)償功能的動(dòng)態(tài)輸出反饋控制，這樣可以提高系統(tǒng)輸出反饋的控制性能，利用Lyapunov穩(wěn)定性理論和線性矩陣不等式處理方法，找出網(wǎng)絡(luò)控制系統(tǒng)魯棒 保性能控制律存在的條件，總結(jié)得出魯棒 保性能控制律設(shè)計(jì)方法。
研究了具有長時(shí)延、數(shù)據(jù)包丟失以及外部干擾的狀態(tài)反饋網(wǎng)絡(luò)控制系統(tǒng)?；贚yapunov-Krasovskii泛函和LMI方法，從 狀態(tài)反饋控制問題入手，給出了系統(tǒng)穩(wěn)定的充分條件和魯棒 控制器的設(shè)計(jì)方法。在穩(wěn)定性條件的推導(dǎo)過程中，對(duì)交叉項(xiàng)進(jìn)行了更緊的界定，總結(jié)得出了相應(yīng)的狀態(tài)反饋 控制器設(shè)計(jì)方法。通過仿真算例求解被控對(duì)象網(wǎng)絡(luò)誘導(dǎo)時(shí)延與數(shù)據(jù)丟包的最大值。
研究了一類不確定離散系統(tǒng)的魯棒 濾波問題，其中不確定性存在于系統(tǒng)的狀態(tài)系數(shù)矩陣和輸出系數(shù)矩陣中，且滿足范數(shù)有界條件。對(duì)于所容許的參數(shù)不確定性，構(gòu)造一個(gè)考慮時(shí)延和丟包的網(wǎng)絡(luò)濾波器，使得濾波誤差系統(tǒng)漸近穩(wěn)定且滿足一定的 性能指標(biāo)。本文推出了網(wǎng)絡(luò) 濾波器存在的充分條件，其中通過矩陣變量替換和錐補(bǔ)算法處理了充分條件中所含逆矩陣。最后通過仿真證明了本文濾波器設(shè)計(jì)方法有效性。

關(guān)鍵詞：網(wǎng)絡(luò)控制系統(tǒng)；網(wǎng)絡(luò)時(shí)延；數(shù)據(jù)丟包；魯棒 控制；保性能 控制；線性矩陣不等式


Abstract
With the rapid developments of microelectronics, communication network and computer technology, the substance foundation of networked control systems (NCSs) supplied by the mergence of the diverse sensors, the intelligent actuators and the high-precision drive devices. The reliability and open issues of NCS have been solved by the sustained developments of high speed Ethernet and field-bus control technology which successful applications, and they also promote the extensive applications of NCS in the field of Aerospace, Equipment manufacturing, Telemedicine and so on. NCS can reflect resource sharing and the distribution of remote control, modular of system building, integrated, low cost, fault diagnosis and maintenance convenience, easy to expand, flexibility and other advantages. Due to the communication mechanism and the communication protocol, and the limited bandwidth of the network is shared by each node in the system, when each node’s data transmitted over control network, NCS often meet data collision, network congestion and network connection interruption phenomenon. These make NCS produce data transmission delay and data packet dropout and other issues. These problems can reduce performance of control system, even lead the system to instability. Therefore, this paper studied the NCS that contain network-induced delay and packet loss and problems such as external disturbances. Based on service quality of control network, by using the performance index of NCS, this paper also studied the modeling of NCS, stability analysis and robust optimal control and design method of robust filter. The main results are as follows:
Dynamic output feedback NCS with problem of the short network-induced delay and the disturbance of external limited energy is studied. Controller is a dynamic compensation function of dynamic output feedback control, so that it can improve performance of output feedback control system. By Lyapunov stability theory and linear matrix inequality processing method, this paper sought the existing conditions of NCS robust guaranteed cost control laws and summarized the design method of the robust guaranteed cost control laws.
A class of state feedback NCS with problem of the long network-induced delay, packet dropout and the disturbance of external limited energy is studied. By the Lyapunov -Krasovskii theory and LMI approach, this paper began from the state feedback control problems, and proved robust controller design method and sufficient conditions of the stability system. In the stability conditions deduced process, this paper summarized the study of the more tight cross-term and got relevant state feedback controller design method. The simulation example calculated maximum of network induction time delay and data packet dropout.
This paper dealt with the problem of robust filtering for a class of uncertain discrete systems, and the uncertainties that satisfied the so-called norm-bounded cond..