Input Design-Based Compensation Control for Networked Nonlinear Systems With Random Delays and Packet Dropouts

Abstract

This brief investigates the data-based networked control problem of a class of nonlinear systems, where random network-induced delays and packet dropouts in the feedback and forward channels are considered simultaneously and further treated as random round-trip time (RTT) delays. The main contributions of this brief are as follows: 1) To actively compensate for RTT delays, a novel compensation control scheme is proposed based on the control input design, and thus, only one control command needs to be transmitted to the actuator through the network; 2) an explicit sufficient condition is derived to ensure the stability of the resulting closed-loop system as well as a zero steady-state output error for a constant reference input; and 3) numerical simulation and comparison with existing methods are carried out to show the effectiveness of the proposed method.