OPTIMAL TRACKING CONTROL FOR NETWORKED CONTROL SYSTEMS WITH RANDOM TIME DELAYS AND PACKET DROPOUTS

摘要

This paper studies the problem of optimal output tracking control for networked control system with uncertain time delays and packet dropouts. Active time-varying sampling period strategy is proposed to ensure the random variable time delays always shorter than one sampling period. Hybrid driven modes are adopted by sensor to solve the issues of long time delay and packet dropout. By using augmentation approach, the tracking problem of this formulated within-one-step delayed discrete-time system is transformed into a general problem of non-delayed state linear quadratic regulator. A gridding approach is introduced to guarantee the realization of optimal output feedback control law by the solution of a series of Riccati matrix equations from an offline database that is constructed by different combination of time delays and packet dropouts. Simulation results demonstrate the effectiveness of the optimal tracking control law.