Cooperative Design And Analysis Of Networked Control Systems Under Multipath Routing Communication

In networked control system,sensors,actuators and controllers are distributed in different areas,and corresponding control loops are formed through wireless networks.Among them,the transmission mode of multipath routing is ubiquitous in networked control systems,however,it is seldom involved in the existing research.In fact,most data communication networks are multi-hop networks,that is,data transmission from source node to destination node needs to pass through multiple relay nodes,and communication networks often adopt dynamic routing discovery mechanism,which makes the transmission path from any source node to destination node not unique,that is,the so-called "multi-path routing".From the point of view of communication network,multipath routing is of great help to load balancing,routing reliability and so on.However,the existence of multipath routing brings new opportunities and challenges to the design and analysis of networked control systems.On the one hand,we can make full use of the characteristics of multipath routing through novel design to improve the data transmission efficiency of networked control systems.On the other hand,we need some new solutions for multipath scheduling,allocation and optimization.This thesis mainly studies the cooperative design of networked control systems in multipath routing communication.Firstly,the multi-path routing networked control system is modeled.From the perspective of both the stability of the control system and the overall network environment,the multi-path routing scheduling algorithm and related controller design methods are proposed.This not only ensures the stability of the system,but also realizes the optimization of the network considering the real-time network conditions.This thesis strictly restricts the conditions of the network,the future research direction is to further relax the restrictions of the network,considering the use of competition mechanism to handle simultaneous channel access requests in multipath communication networks or the use of state-based priority to determine the order of access to the network,so that a more general and universal scheduling and control cooperative design algorithm can be obtained.The main work and achievements of this thesis are as follows:1.The problem of delay compensation for networked control systems based on multipath routing is studied,and a new method for modeling stochastic time delay of multipath routing is proposed.Aiming at the networked control system based on multipath routing,this thesis models the delay and packet loss in multipath routing,emphasizes the effect of data disorder caused by long delay and multipath packet loss,and establishes it as a finite-state Markov jump system.Then,the controller is designed according to different actuator end delay by using the packet-based control method.This method not only guarantees the stability of the system,but also realizes the load balancing of the global network.Finally,the effectiveness and superiority of the method are verified by pure numerical simulation.2.The multi-delay handover problem caused by multi-path routing transmission is studied,and a new path scheduling and control collaborative design method for networked control systems is proposed.Aiming at the problem of cooperative design of communication path scheduling and controller in networked control system based on multipath communication routing,the switching system model of the studied system is obtained by modelling the change of delay caused by different communication path switching as the switching of system mode.The conditions for exponentially stable communication path scheduling of closed-loop system are given,and the closed-loop communication path scheduling scheme and controller design method satisfying system stability and network load balancing are proposed.The results show that the collaborative design method is effective and superior.This method not only guarantees the exponential stability of the system,but also realizes the local optimum of the system considering the real-time network.Finally,the algorithm is validated by pure numerical simulation based on MATLAB simulation software and virtual instrument simulation based on LabVIEW.