Abstract
A robust control approach is proposed to solve the asymptotic stabilization problem of networked control systems, where the data transmission is mediated by a triggering function, and is subject to time-varying transmission delays. We show that the triggering mechanism and the delay effects could be regarded as uncertain components interconnected with a stable linear time-invariant system. We then use two operators to describe the uncertainties, and find the corresponding integral quadratic constraints of the operators. The stability of the networked control system is analyzed from a robust control point of view. Beyond the stability analysis, a co-design algorithm is devised to design the control gain and detection parameters jointly to maximize the inter-event interval as well as the maximum allowable time-delay. Theoretically, the proposed scheme guarantees that out-of-order packet delivery does not happen. The robust control framework allows the algorithm developed for time-varying delays to be applied to the constant delay and the delay free cases. Finally, the theoretical results are demonstrated and verified by numerical simulations.
Highlights
Networked control systems consist of individual subsystems, which are responsible for providing various functionalities [1], [2]
Integration of and coordination between subsystems which are connected via wireless networks are the key ingredients to make one large distributed system and to achieve the ultimate design goals
In the networked control context, it is worthwhile to consider the event-triggered control system design framework, where the signaling from one subsystem to another is dictated by a triggering function [8]–[11]
Summary
Networked control systems consist of individual subsystems, which are responsible for providing various functionalities [1], [2]. The most representative works addressing the delay issue of event-triggered stabilization of networked control systems are [22], and [24], where the constant delay case is considered in the former, and the time-varying delay case in the latter. The closed-loop system is modeled as a time-delay system in [24], [30], and the Lyapunov-Krasovskii approach is applied to co-design the triggering function and the stabilizing controller. We revisit the problem of event-triggered stabilization of networked control systems, capturing both the time-varying delay and the packet outof-order delivery of data transmission over networks. By setting the constraint that the minimum inter-event interval is greater than the maximum allowable delay bound, the packet out-of-order delivery is ruled out by design. The triggering mechanism is designed to ensure that packet ordering is preserved
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