Consensus Control Research Of Partial-Information-Based Networked Control Systems

In recent years,the consensus control of networked control systems has attracted the attention of researchers from many disciplines(including biology,physics,computer science,and control science and engineering).The main reason is to take advantage of high robustness,flexibility and reliability to complete complex tasks,such as collaborative navigation,scheduling optimization,and resource sharing.Networked control systems have been widely used in many fields,such as flexible manufacturing,intelligent transportation,unmanned vehicles or cooperative formation of UAVs,and cooperative control of multi-robots.As the basis of coordinated control,the stability analysis and consensus control are the most important research directions for networked control systems.To achieve the stability and consensus control of networked control systems,it is necessary to guarantee the stability of each node.However,the introduction of the network also brings some problems,such as partial-information coupling,network-induced delay,aperiodic sampling,uncertainty,and external disturbance,etc.The performance of the system will be affected,the stability and conservativeness are reduced.The difficulties of the system modeling design and analysis are improved.Although researchers have achieved some excellent results,some problems still need to be studied.How to perform the consensus control for networked control systems with partial-information coupling.How to perform consensus control of networked control systems under time delay and uncertainty.How to reduce the chattering of networked control systems with bounded disturbances.Therefore,this paper focuses on the consensus control of partial-information-based networked control systems.The specific research contents are summarized as follows:(1)The consensus problem of partial-information-based networked control systems subject to time-delay was investigated.First,a decoupling function was designed.Based on the free-weight-matrix method and Lyapunov stabilization analysis method,the stability criteria have been obtained,and the consensus of partial-information-based coupling networked control systems was realized.Then,networked control systems subject to time-delay were considered,an integral inequality and the Lyapunov stability analysis method were adopted,combined with the aperiodic sampling control strategy,the consensus of networked control systems subject to time-delay was studied.Finally,two simulation examples were used to illustrate the effectiveness of the designed decoupling method.(2)Consensus problem of nonlinear networked control systems with time-delay was investigated.First,the aperiodic sampling control strategy was established.Compared with periodic sampling,it is more flexible,local information between nodes is exchanged.Constructing a Lyapunov function,stability rules were obtained,and consensus of the nonlinear networked control systems is obtained.Second,a non-fragile sampling controller was designed.The designed control model has multiple norms with bounded uncertainty.A continuous Lyapunov function was designed to achieve consensus of the nonlinear networked control systems with time-delay and improve the robustness of the system.In the end,two simulation examples were used to prove the effectiveness of the designed conventional controller and the non-fragile controller.(3)The problem of finite-time consensus control of networked control systems was studied.First,aperiodic sampling controller was designed,combining the free-weight matrix method and LMIs(linear matrix inequalites)method to obtain the finite-time consensus control conditions.Second,a non-fragile sampling control strategy was designed,and consider the input time-varying time delay.Based on the Lyapunov stability theorem and integral inequality method,the finite-time consensus problem of networked control systems was addressed.Moreover,the conservativeness of the closed-loop system was reduced.Finally,two simulation examples were designed to verify the effectiveness of sampling control and non-fragile sampling control strategies.(4)The consensus problem of master-slave networked control systems based on sampling controller was studied.First,aperiodic sampling controller was designed and the MFMB(Modified free-matrix-based)time-delay dependent Lyapunov function was constructed,which can make the best of the samping pattern.Second,considering the constant time-delay for the state feedback controller,a discontinuous Lyapunov function was designed.In the light of the extended form of Wirtinger's inequality,stability conditions were derived.Moreover,consensus of the master-slave networked control systems was obtained.More importantly,the conservativeness of the closed-loop system is reduced.Finally,two simulation examples were offered to validate the effectiveness of the designed method.(5)The consensus problem of networked control systems with bounded disturbances by using integral sliding mode control was studied.First,the information can be exchanged between partial nodes and the leader,a discontinuous integral sliding mode protocol and the consensus control strategy were designed,the finite-time consensus of networked control systems with bounded disturbances was obtained.Second,a continuous integral sliding mode,adaptive control protocol and consensus control protocol were designed.The consensus of networked control systems can be achieved.The adaptive strategy can work well even without prior knowledge of the system nonlinearity and disturbance compared to a constant control gain.Finally,the simulation results were given to verify the effectiveness of the proposed method.