Networked control for linear systems with forward and backward channels in presence of data transmission delays, consecutive packet dropouts and disordering

Abstract

This paper investigates networked control for discrete-time systems with communication imperfections including data transmission time-varying delays, consecutive packet dropouts and packet disordering. The system states, which are measured by a sensor with periodic sampling period, will be directly transmitted to a sender and further delivered to a remote controller with aperiodic sending time-intervals. Only when the controller receives valid state information, the control signals are calculated and sent to the actuator. Because the data transmission imperfections are simultaneously allowed in the forward and backward communication channels (i.e., sender-to-controller and controller-to-actuator networks), the data transmission procedure from the sensor to the actuator is analyzed in details and the actuator received control command is presented in a time-delay description. Meanwhile, the qualitative relationships between the non-periodical sampling period, time-delay bound, consecutive packet dropout number and disordering are given as well. A delay-independent Lyapunov functional is employed while the sufficient delay-dependent stability condition is obtained. By the proposed method, not only system asymptotical stability of the closed-loop system can be achieved but also the network imperfections can be tolerated. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed method.