Design and stability analysis of networked control system with random delay and data dropout using a novel proactive strategy

Abstract

In this paper, the problems of networked control systems (NCSs) with random delay and data dropout in both forward and feedback communication channels are presented. The random time delay and data dropout highly degrade the performance of NCS, and can make the system unstable. In order to deal with these problems, a novel timestamp-based networked predictive control strategy is proposed. Without changing the existing structure of NCS, in the controller side we calculate the control input matrix by employing the predictive control algorithm,and the control input matrix is composed of a set of predictive control sequences corresponding to all possible network delay. In the actuator node, a delay compensator is employed to choose the appropriate control input from the received control input matrix according to the round-trip delay, which is measured by comparing timestamps of data packets with the current time, thus the communication delay and data dropout are both compensated actively. The robust stability conditions of closed-loop networked predictive control system are analytically derived for the random communication delay. Finally effectiveness of the proposed proactive networked controller design scheme is illustrated by the simulation experiment based on Truetime.