Robust predictive tracking control of networked control systems with time-varying delays and data dropouts

摘要

This study deals with a robust trajectory tracking control problem of discrete-time networked control systems. The systems have time-varying interval-bounded uncertainties, random network-induced delays and data dropouts in both sensor-to-controller channel and controller-to-buffer/actuator channel. A dynamic predictive feedback linearisation controller is proposed so that the system dynamics and delays caused by networked communication time and data dropouts are compensated, and the system output can perfectly track the reference trajectory when uncertainties are absent. Tracking errors caused by the time-varying parameter uncertainties are suppressed in the H∞ sense. Finally, the proposed method is illustrated by two numerical examples which show the application procedure and effectiveness of the proposed control scheme.