Output Tracking Control for Networked Systems: A Model-Based Prediction Approach

Abstract

This paper studies the problem of output tracking for networked control systems with network-induced delay, packet disorder, and packet dropout. The round-trip time (RTT) delay is redefined to describe these communication constraints in a unified way. By including the output tracking error as an additional state, the output tracking problem is converted into the stabilization problem of an augmented system. Based on the observer of the original state increment and the feedback of the output tracking error, a model-based networked predictive output tracking control (NPOTC) scheme is proposed to actively compensate for the random RTT delay. The closed-loop stability is proved to be independent of the RTT delay, and the separation principle for the design of the observer-based state feedback controller is still held in the NPOTC system. A two-stage controller design procedure is presented, which not only guarantees the stability of the closed-loop NPOTC system but also achieves the same output tracking performance as that of the local control system for time-varying reference signals. Both numerical simulations and practical experiments on an Internet-based servo motor system illustrate the effectiveness of the proposed method.