Design and implementation of a networked controller based on state prediction

摘要

Aiming at the problem of random delay in close-loop networked control systems, this study designed a LQ control strategy based on state prediction. Time-variant transmission delays can be transformed into fixed delays by adding data buffers to the controller and the actuator. Accordingly, time-variant stochastic systems can be transformed into deterministic systems. In this study, controllability of deterministic networked control systems is systematically analyzed, and a LQ control scheme based on state prediction is studied. Also the validity of the algorithm for the controller is demonstrated by practical experiments.