Research On The Design And Related Technology Of Multi-loop Netwoked Control System For Pursuit

The pursuit problem, especially the control system based on wireless sensor networks(WSN) has a wide application prospect in military affairs because its research achievements have efficiency means in battlefield situation awareness, environment monitoring, target tracking, protection.In this paper we design a wireless networked control system(Wi NCS) based on the existed wireless sensor networks for monitoring and protection in unattended area. The protector robot heads it off when the invader is in the area of WSN. WSN nodes gather information about invader and transmit it to protector robot controllers through wireless node radio. The controllers head invader off according to control information.We study the key technologies of multi-loop wireless networked control systems with theory, simulation and experiments. The networked control system is designed through cross-layer based on localization and decreased induced delay of networks. The main research contents and contributions are listed as follows:Based on the analysis on the applications of Wi NCS, this chapter gives the structure, functions and modules from aspects of hardware and software. Then the paper designs a prototype testbed used to study the Wi NCS and WSN.Through the testbed we can easily understand Wi NCS and the validity of research results is verified in this paper. The testbed is also used as a tool for theoretical researchers on networked control system,wireless communication and so on.As the time delay seriously affects the performance of the Wi NCS, the paper then has a research on the real-time communication. Firstly the paper studies the parts that induced delay in Wi NCS. As MAC protocol decides the usage of wireless channel, it has been at the core of effective communication in wireless sensor network. After introducing the characteristics of wireless sensor networks, the MAC protocol is explored for real-time communication in Wi NCS. More specifically, a non-parametric regression method is exploited to develop prediction models for defining the priority of all sensors using estimation error which aims to reduce the redundant data and provide Qo S for different sensor nodes. A FP-MAC frame slots assigning and channel accessing algorithm are designed. Scheduling for sensor’s sleep/wakeup period is studied. Then the paper analyzes the FP-MAC protocol performance and the improved MAC protocol is present in the next section. Finally, simulation and experiment results indicate that MAC protocol provides bounded delays for real-time communication and can be well adapted in Wi NCS.Then the chapter designs the wireless sensor networks and goes on to study the localization. The paper presents a localization method using mobile anchor node considering the shortcomings for the existing literatures. In the next section the chapter translates the path planning of the mobile anchor into having a Spanning Tree and traversing graph. The MCVCS and genetic for path planning are presented as the topology information is known. While the topology information is unknown the paper proposes two different algorithms, namely Breadth-First(BRF) and backtracking greedy(BTG). In the last part the paper examines in detail the algorithms through simulations and real experiments. Results show that the algorithm offers the better performance and higher localization accuracy for sensor networks.In this chapter the control method based on cross-layer is studied for Wi NCS. After analyzing the kinematics of robots the chapter uses the novel active-varying sampling period method for eliminateing the probability of packet disordering, which greatly simplifies the analysis and design of Wi NCS. The H∞ controller is designed for Wi NCS. Then paper discusses the coupling relations between controller and networks. Refer to the cross-layer designing method the control system is looked as the application layer in the network. A cross-layer control model is presented. The synthesis performance index is proposed to connect the controller design with the network characteristics which can optimize the whole Wi NCS. Simulation results show that the proposed method is effective.Finally, the main content of this dissertation is summarized and key points of future research are discussed.