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研究生:楊勝雄
研究生(外文):Yang, Sheng-Hsiung
論文名稱:網路控制系統之穩定度分析與控制器設計研究
論文名稱(外文):Study on Stability Analysis and Controller Synthesis of Networked Control Systems
指導教授:吳政郎
指導教授(外文):Wu, Jenq-Lang
口試委員:李祖添陶金旺王偉彥鄭錦聰杜國洋容志輝
口試委員(外文):Lee, Tsu-TianTao, Chin-WangWang, Wei-YenJeng, Jin-TsongTu, Kuo-YangYung, Chee-Fai
口試日期:2015-12-28
學位類別:博士
校院名稱:國立臺灣海洋大學
系所名稱:電機工程學系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2016
畢業學年度:104
語文別:英文
論文頁數:100
中文關鍵詞:網路控制系統模型基礎控制容錯控制同時穩定H-infinity控制傳輸延遲封包遺失
外文關鍵詞:networked control systemsmodel-based controlfault-tolerant controlsimultaneous stabilizationH-infinity controltransmission delaypacket dropout
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本論文主要研究網路控制系統的穩定度分析與控制器設計問題。首先,考慮一個具有不確定參數之大型網路控制系統,感測器未位於同一個網路節點,在這個情況之下多封包傳輸問題無可避免。我們利用以模型為基礎的架構來設計控制器,使得參數不確定之網路控制系統在多封包傳輸下可以達到強健漸近穩定。第二,當網路控制系統有元件損壞發生時,會降低網路控制系統的性能,甚至造成不穩定。為了克服這個問題,我們設計靜態輸出回授容錯控制法則,使得網路控制系統在可能的元件損壞下仍可以穩定,保證網路控制系統的強健性。第三,考慮一群網路控制系統,我們設計了一控制器及一傳輸法則,其可使這群網路控制系統同時穩定且滿足抑制雜訊的性能要求。第四,為了減少網路控制系統之網路使用率,我們設計事件觸發L2增益傳輸法則,使得網路控制系統在有封包遺失可能性下,可以達到內部穩定與抑制雜訊的性能要求。對於傳統的事件觸發法則,當考慮封包遺失時,重要的封包可能會遺失造成控制訊號無法及時更新,造成網路控制系統不穩定。為了克服這個問題,當網路控制系統有時間延遲跟連續的封包遺失發生時,我們設計混合式的事件/時間觸發L2增益傳輸法則來保證其穩定性。最後,我們設計了網路傳輸狀態估測器,在網路傳輸延遲及雜訊影響下,能準確估計系統狀態。
The goal of this dissertation is to study the stability analysis and control synthesis problems of networked control systems (NCSs). Firstly, we consider the model-based control of NCSs under a multiple packet transmission policy. For a large NCS with parameter uncertainties, the sensors may distribute at several different places (nodes) and therefore, the measured signals cannot be lumped together in a single packet to be transmitted. We design a model-based controller to robustly asymptotically stabilize the uncertain NCS under multiple packet transmission. Secondly, we consider the fault tolerant control of NCSs. It is known that components failures in a NCS can degrade the performance of the system or even can destabilize the system. We want to design a static output feedback fault-tolerant controller to stabilize a NCS under possible element failures. In this way, high reliability of the NCS can be achieved. Thirdly, we consider the simultaneous L2-gain control of NCSs. For reducing network usage, we develop an event-triggered simultaneous L2-gain transmission policy for a collection of NCSs such that all the closed-loop systems are internally stable and satisfy a disturbance attenuation requirement. Fourthly, we consider the design of mixed event/time-triggered transmission policies for NCSs with possible transmission delays and packet dropouts. As considering possible packet dropouts in NCSs, by using conventional event-triggered policies, critical data packets may be lost during transmission. This will lead to the result that the control signal cannot be updated in time and then possibly destabilize the NCS. To overcome this problem, we design a mixed event/time-triggered transmission policy to guarantee L2-stability for NCSs with network-induced delay and consecutive packet dropouts. Finally, we consider the design of networked state estimators. We design a state observer to estimate the system state in the influences of transmission delays and exogenous disturbances.
摘要 I
Abstract II
Contents III
Nomenclature V
List of Figures VI
Chapter 1 Introduction 1
1.1 Networked Control Systems 1
1.2 Motivation and Backgrounds 2
1.3 Previous Research 3
1.4 Contribution 5
1.5 Organization of the Dissertation 6
Chapter 2 Mathematical Background and Preliminaries 8
2.1 Mathematical Background 8
2.1.1 Event-Triggered NCSs 8
2.1.2 Model-Based NCSs 9
2.1.3 Simultaneous Stabilization of NCSs 10
2.2 Mathematical Preliminaries 10
Chapter 3 A Sequential Multiple Packet Transmission Policy for Model-Based Networked Control Systems 13
3.1 Introduction 13
3.2 Problem Formulation and Preliminaries 15
3.3 Main Results 16
3.4 An Illustrative Example 20
3.5 Summary 23
Chapter 4 Synthesis of Fault-Tolerant Static Output Feedback Controllers for Networked Control Systems 24
4.1 Introduction 24
4.2 Problem Formulation and Preliminaries 26
4.3 Main Results 28
4.4 An Illustrative Example 32
4.5 Summary 35
Chapter 5 Design of Event-Triggered Simultaneous Controllers for a Collection of
Networked Control Systems 36
5.1 Introduction 36
5.2 Problem Formulation and Preliminaries 37
5.3 Main Results 39
5.4 An Illustrative Example 42
5.5 Summary 46
Chapter 6 Mixed Event/Time-Triggered Static Output Feedback-Gain Control for Networked Control Systems 48
6.1 Introduction 48
6.2 Problem Formulation and Preliminaries 50
6.3 Main Results 53
6.4 Illustrative Examples 60
6.5 Summary 65
Chapter 7 Design of -Gain Observer for Networked Control Systems 67
7.1 Introduction 67
7.2 Problem Formulation and Preliminaries 68
7.3 Main Results 69
7.3.1 Design of an Observer without Delay
Compensation 69
7.3.2 Design of an Observer with Delay Compensation 71
7.4 An Illustrative Example 73
7.5 Summary 76
Chapter 8 Conclusions and Discussions of Future Works 77
8.1 Conclusions 77
8.2 Discussions of Future Works 78
References 79
Publication List 89

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