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Scheduling Sequnce MRBS And Control Co-design For Networked Control Systems And Its Application

Posted on:2016-03-02Degree:DoctorType:Dissertation
Country:ChinaCandidate:S X WenFull Text:PDF
GTID:1108330470970016Subject:Control theory and control engineering
Abstract/Summary:PDF Full Text Request
A collection of plants coordinated via the network can be widely found in the practical application such as communication scheduling and control of a platoon of vehicles in the intelligent vehicle systems, using the base station to control and coordinate a group of mobile agents (e.g. vehicles, ships and aircrafts) through network, wireless sensor network for climate or environment monitoring. However, due to the limitation of communication capacities, at any time, only part of the plants can be assigned to the network, while the others must wait. In order to guarantee the simultaneous stability of all the plants, the scheduling policy and the controller should be jointly designed. Based on the analysis of the existing literatures, it is easy to know that the existing scheduling policies are typically given in the numerical form and determined according to stability or scheduling scheme, which are usually very complicated for computation or even intractable. Hereby, the most regular binary sequence (MRBS) is used as the scheduling policy for the collection of plants. Based on the MRBSs, the main research work are as follows:1. The sufficient conditions on the MRBS that guarantee controllability/observability of the resulted non-uniform sampled-data networked control systems is given. A transmission interval-dependent controller framework is established, where the controller gains for each plant is piecewise constant and dependent on the irregularly varying transmission interval from the MRBSs, and it allows for asynchronous switching of the controller gains with respect to the switching of the sampling interval. A useful controller-MRBS co-design is proposed, by which the controller gains and the parameters of the MRBSs can be easily determined.2. In order to save the capacity limitation of the network resource, a hybrid event-time-triggered transmission strategy is proposed, which is combined with the time-triggered scheduling function MRBS and the event-triggered transmission scheme. Then, a unified co-design framework is presented with which the scheduling function MRBS, the event-triggered condition and the controller gains can be determined simultaneously and can achieve simultaneous stabilization and communication conflict resolution of the collection of plants.3. The capacity limitation and packet losses of the network are investigated for a collection of plants, where the existing packet losses are divided into UDP-type (User Datagram Protocol-type) and TCP-type (Transmission Control Protocol-type). A switched system model is established for the plant with sub-modes, which is depending on the packet losses happening or not at both sensor-controller side and controller-actuator side. By introducing a piecewise Lyapunov function and making use the average dwell time technique, a sufficient condition on the existence of the scheduling function and the controller is given. Then a novel useful algorithm for scheduling and control co-design is established based on sequence reshaping and a set of priority rules.4. The proposed scheduling function MRBS and control co-design is applied to resolve the problem of vehicular platoon control in vehicular ad hoc network subject to capacity limitation and random packet dropouts, which mainly consider the scheduling and control co-desgin for a collection of coupled plants. By introducing binary sequences as the basis of network access scheduling and modeling random packet dropouts as independent Bernoulli processes, we derive a closed form methodology for vehicular platoon control. In particular, an interesting framework for network access scheduling and platoon control co-design is established. The resulting platoon control and scheduling algorithm can resolve network access conflicts in vehicular ad hoc networks and guarantee string stability and zero steady-state spacing errors. The experiments with laboratory-scale Arduino car is give to demonstrate the effectiveness and practicability of the proposed co-design method.
Keywords/Search Tags:Networked control systems, Capacity limitation of the netwrok, Packet losses, Scheduling sequence MRBS and control co-design, Platoon control
PDF Full Text Request
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