Abstract
This paper studies an input to state stabilizing control of networked control systems (NCSs) under a specified packet dropout rate. By considering packet dropouts in the NCSs, the transmission intervals are categorized by small delay intervals (packet-dropout-free case) and large delay intervals (packet-dropout case). Based on such classifications, we establish the concept of average packet dropout rate (ADR) to characterize the quality of service (QoS) for networks. Then, a switched systems approach is used to derive the ISS (input to state stability) conditions by exploiting Lyapunov theory and input delay approach for a specified ADR. In what follows, the controller design method for the NCSs under a specified ADR is reached by solving linear matrix inequalities (LMIs). According to the proposed results, a control and communication co-design method is developed such that one can design the controller gain according to QoS. Finally, simulations on self-steering control of autonomous vehicles are presented to verify the effectiveness of the proposed co-design method.
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