大多数网络化控制系统中的控制器、传感器、执行器皆基于嵌入式微处理器实现,并通过有线或无线网络互联.网络带宽和网络节点等计算资源需要合理分配.为了在保证控制性能的同时高效利用有限资源,提出了一种基于事件触发的控制律与资源调度协调设计方法.首先,基于参数不确定离散切换模型对具有时变传输延迟的事件触发被控系统进行建模;在此基础上,基于线性矩阵不等式研究鲁棒控制律、事件触发机制、带宽调度策略协调设计方法.最后,以包含多个倒立摆的网络化控制系统为例,设计仿真实验,评估提出的协调设计策略性能.实验结果表明,与基于周期传输的控制策略相比,文中提出的基于事件的协调设计策略可以在占用较低资源的情况下获得更好的控制性能.%Most of networked control systems consist of controllers,sensors and actuators connected with via a wire or wireless communication network.Communication bandwidth of the network is limited.For using the limited resource efficiently, two important aspects should be taken into account: resource distribution and resource utilization.This paper describes an event based co-design methodology of control law, bandwidth scheduling and event trigger condition.The event-triggered control system with communication uncertainness is modeled as a discrete-time switched system with parameter uncertainty.The co-design procedure to guarantee the globally uniformly asymptotically stability of close-loop system in present of communication uncertainty and event based scheduler is formulated as a linear matrix inequality (LMI) problem which can be solved efficiently.The proposed approach is evaluated through simulations with respect to the networked control of inverted pendulums.The results of simulation show that proposed co-design method can achieve better performance with lower resource utilization since the transmission of new measurements and update of control command perform only when it is necessary.
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