Modelling and optimal controller design of networked control systems with multiple delays
Resource
International Journal of Control 76 (6): 591-606
Journal
International Journal of Control
Journal Volume
76
Journal Issue
6
Pages
591-606
Date Issued
2003
Author(s)
Abstract
In this paper we discuss the modelling and control of networked control systems (NCS) where sensors, actuators and controllers are distributed and interconnected by a common communication network. Multiple distributed communication delays as well as multiple inputs and multiple outputs (MIMO) are considered in the modelling algorithm. In addition, the asynchronous sampling mechanisms of distributed sensors are characterized to obtain the actual time delays between sensors and the controller. Due to the characteristics of a network architecture, piecewise constant plant inputs are assumed and discrete-time models of plant and controller dynamics are adopted to analyse the stability and performance of a closed-loop NCS. The analysis result is used to verify the stability and performance of an NCS without considering the impact of multiple time delays in the controller design. In addition, the proposed NCS model is used as a foundation for optimal controller design. The proposed control algorithm utilizes the information of delayed signals and improves the control performance of a control system encountering distributed communication delays. Several simulation studies are provided to verify the control performance of the proposed controller design.
Other Subjects
Actuators; Algorithms; Discrete time control systems; Controller dynamics; Optimal control systems
Type
journal article
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