多率非线性系统的网络化控制及其应用

Network control systems (NCSs) have several advantages, such as reduced system wiring, increased system agility, and ease of system diagnosis and maintenance. Consequently, networked control is the current trend for industrial automation and has application in a broad range of areas such as industrial control processes, intelligent transportation systems and so on. In the practical application of NCSs, the controlled plant is usually nonlinear, there exist a variety of sampled-data sensors, and the network bandwidth is limited. Therefore, how to choose a good real-time sampling method and to design a network-resource-saved transmission scheme is of theoretical significance for improving the operating mechanism of NCSs. However, there have been few results available in the published research. By introducing a classification strategy of multiple sampling rates of various sensors to determine a multi-rate sampling method and constructing an event-triggered transmission scheme to determine whether or not sampled-data should be transimtted, this project will investigate the control problem for a class of nonlinear NCSs which can be described by T-S fuzzy models. In this project, by applying the classification strategy of multiple sampling rates and constructing an effective event-triggered transmission scheme, the mathematical models of event-triggered based single-rate nonlinear NCSs, multi-rate nonlinear NCSs and event-triggered based multi-rate nonlinear NCSs will be established respectively, and some design methods of the networked controller or networked switched cotroller will be proposed to meet the system performances. When a single-rate sampling and a multi-rate sampling are available for a nonlinear NCS, it will be shown that the multi-rate nonlinear NCS is more superior to the single-rate nonlinear NCS from the view of system performances. Finally, these research results will be applied to the stable control for an autonomous platoon in a network environment. This project will not only broaden the research field of NCSs, but also provide some effective design approaches for their practical applications.

网络化控制系统(NCSs)已成功应用于工业控制过程、智能交通系统等领域，并展现出广阔的应用前景。在NCSs的应用中，通常会遇到被控对象是非线性的、多种采样传感器并存以及网络带宽受限等情形。然而，如何选择实时性好的采样方式和设计节约网络资源的传输方案来改进NCSs的运行机制的研究工作还很少。本项目针对T-S模糊模型表示的非线性系统，引入不同传感器多采样率的分类策略来确定多率采样方式，构建一个有效的事件触发传输方案来决定采样数据是否传输，分别研究基于事件触发的单率非线性系统、多率非线性系统和基于事件触发的多率非线性系统的网络化控制问题，提出满足某些系统性能的控制器或切换控制器的设计方法。在单率采样和多率采样都容许情形下，验证多率非线性NCSs在系统性能方面优于单率非线性NCSs。最后，将这些研究成果应用于网络环境下自主车队稳定控制。本项目将拓宽NCSs的研究领域，并为其应用提供有效的设计方法。