摘要
针对一类具有时延及丢包的不确定非线性网络化控制系统,在系统状态无法直接测量和执行器发生失效故障情形下,基于全维状态观测器,研究不确定非线性网络化控制系统的鲁棒完整性设计问题.首先,基于T-S模糊模型,通过引入适当的积分不等式去处理一些积分项,以及构造包含所有时延特性的Lyapunov-Krasovskii泛函,推证出使系统具有鲁棒完整性的时滞依赖充分条件;进一步,利用矩阵分离技术得到了状态观测器和控制器增益的求解方法.在推证过程中,既没有进行模型转换也没有放大或忽略有用项,特别是对网络传输时延的分段处理,使结果具有较少保守性.最后以仿真示例验证了本文所述方法的有效性和可行性.
Aimed at the uncertain nonlinear networked control systems with network-induced delay and packet dropout, the robust integrity design of this system was investigated based on state observer of full- dimensionality, wherein the system states are immeasurable directly and failures of actuator are possible. Firstly, by introducing appropriate integral inequalities to deal with some integral terms and constructing Lyapunov-Krasovskii functional including all characteristics of network-induced delay, the delay-dependent sufficient condition of system robust integrality was derived on the basis of T-S fuzzy model. Secondly, using matrix separation technique, the observer-based controller gain and state feedback controller gain could be obtained. There was neither model transformation nor magnifying or ignoring useful terms in the process of derivation. Especially, the section processing of network transmission delay would make the result a less conservative. Finally, a simulation example was used to justify the effectiveness and feasibility of proposed approach.
出处
《兰州理工大学学报》
CAS
北大核心
2013年第5期69-77,共9页
Journal of Lanzhou University of Technology
基金
国家自然科学基金(61364011)
甘肃省自然科学基金(1212RZJA002)
关键词
非线性网络控制系统
状态观测器
模糊系统
鲁棒完整性
时滞依赖
nonlinear networked control system
state observer
fuzzy systems
robust integrality
delay dependence
