Predictive Event-Triggered Control Design And Analysis For Wireless Networked Control Systems

In recent years,with the rapid development of wireless communication technology and embedded computing technology,the wired communication in traditional control system is gradually replaced by wireless communication,forming the so-named wireless networked control systems.This kind of systems has the advantages of low cost,high flexibility,easy implementation and so on.It provides an important theoretical basis model for all kinds of new intelligent systems such as Internet of things,Internet of vehicles,cyber physical systems and so on,and has great theoretical and application value for its research and analysis.In the meanwhile,however,the problems of unreliable wireless link,multi-applications access and limited node energy introduced by wireless network also bring new challenges to the design and analysis of wireless networked control systems.This thesis mainly focuses on the efficient utilization of the node power and packet dropout problems in the wireless networked control systems.On the one hand,the network node of wireless networked control systems usually use batteries to take place cables for power supply.Hence,the node power constrain is an essential characteristic of wireless networked control systems.On the other hand,wireless communication is more unreliable than wired communication in terms of communication quality,and more fiercely packet dropout is a major challenge in the design of wireless networked control systems.For the above challenges,this thesis studies the effective control strategy and system analysis method under the limitations of node energy and packet dropout.The main work is as follows:1.For disturbanced wireless networked control systems,a state feedback based Predictive Event-Triggered control approach is proposed to achieve the balance between energy consumption and system performance under packet-dropout,also,it has strong robustness in performance.In this approach,the specially designed trigger threshold ensure that the difference between the state estimation and the current one can be bounded by a proper boundary at the sensor side.The packet-based predictive controller can compensate for packet loss actively,guaranteeing the system performance.The closed-loop model is established,and the sufficient condition for the system uniformly ultimate bounded is obtained with corresponding controller gain.2.For the wireless networked control systems whose state cannot be measured directly,an observation-based predictive event trigger control approach is proposed.In this approach,the observation-based trigger is designed to reduce the data transmissions,and the observation-feedback-based forward prediction controller can compensate for the absence of control signal actively.Moreover,the controller gain and observer gain obtained by this method are independent of each other when solving,which reduces the complexity of calculation.