The modelling and design of networked sliding mode prediction controller

Abstract

A significant attention has been paid to networked control systems (NCSs) during the last few years, but few researches take parameters perturbation and practical external disturbance of the controlled plant model into account. The present study is concerned with robustness of networked control systems with packet loss and system uncertainty. Networked sliding mode prediction control method is proposed to improve the performance of the NCS. When packet losses occur a new lost packet networked control system model is proposed. Motivated by sliding mode prediction control arithmetic, the networked sliding mode prediction controller and the packet predictive compensator are designed under this model. The corresponding compensation strategies are researched. With the strategies, at every moment, the actual control volume option is the latest sliding mode prediction control signal or the optimal control signals. The stability of networked sliding mode prediction control system is analysed. The simulation results about networked servo motor illustrate that the novel method has strong robustness for parameter perturbations, external disturbances and a certain degree of packet loss.