Networked Control System Design And Application Research Based On Variable Structure Theory

With the increasing of the size of control system, the network will playmore and more important role in the control systems. The networked controlsystem (NCS) is a new research domain in the automation. The network bringsto control systems the outstanding advantages of installation simple,maintenance convince and resource sharing. But also some new problemsappear: the delay of transferring information is often random, and it is oftengreater than a sampling period;because of the undependability of networktransfer, there is a dropout in NCS. The insertion of the communicationnetwork in the feedback control loop makes the analysis and design of an NCScomplex, so it is necessary to study the new research before the conventionalcontrol theories with many ideal assumptions applied to NCS.The advances in sliding mode control, fuzzy systems and linear matrixinequalities provide the researchers with powerful tools for many systems. Thisthesis aims to achieve the time delay problem with these tools. We do thefollowing work:First of all, the paper discusses the using of sliding mode control innetworked control systems. The sliding predictive controller with goodperformance is designed for a rapid-changed linear plant under delay,networkinduced noise and data dropout circumstance.Secondly, the paper studies the fuzzy sliding mode control in networkedcontrol systems. The fuzzy sliding predictive controller with good performanceis designed for a rapid-changed nonlinear plant under delay,network inducednoise and data dropout circumstance. The controller is able to manage thechatter in the sliding mode surface.Thirdly, the paper studies the stabilization condition of networked controlsystems. By linear matrix inequality the condition is achieved and themaximum allowable delay bound.Finally, the paper develops the MOTOMAN UP6 software system basedon the Visual C++, and realizes the remote control of the MOTOMAN in LAN.The system is used as a platform for our future research.