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Sliding mode control method for networked control system under circumstance of uncertain probability of occurrence

A technology of networked control and probability of occurrence, which is applied in the field of sliding mode control, can solve the problems of not being able to deal with distributed sensor time-delay and bounded time-varying time-delay at the same time, and achieve the effect of ensuring stability

Inactive Publication Date: 2019-02-22
HARBIN UNIV OF SCI & TECH
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the problem that the existing sliding mode control technology cannot simultaneously deal with distributed sensor time-delay and bounded time-varying time-delay in the case of data packet loss with uncertain occurrence probability in the networked control system, the present invention provides an uncertain occurrence Sliding Mode Control Method for Networked Control Systems in Probabilistic Situation

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  • Sliding mode control method for networked control system under circumstance of uncertain probability of occurrence
  • Sliding mode control method for networked control system under circumstance of uncertain probability of occurrence
  • Sliding mode control method for networked control system under circumstance of uncertain probability of occurrence

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specific Embodiment approach 1

[0019] Specific implementation mode one: combine figure 1 The present embodiment is described. The sliding mode control method of the networked control system under the situation of uncertain occurrence probability given in this embodiment specifically includes the following steps:

[0020] Step 1. Establishing a dynamic model of a networked control system with distributed sensor time-delay and bounded time-varying time-delay in the case of data packet loss with uncertain probability of occurrence;

[0021] Step 2, designing a sliding mode function for the dynamic model of the networked control system with distributed sensor time-delay and bounded time-varying time-delay in the case of data packet loss with uncertain probability of occurrence;

[0022] Step 3. By analyzing the variables of the sliding mode function, use the effective information of data packet loss to construct the controller u of the system k ;

[0023] Step 4, the controller u obtained in step 3 k Substit...

specific Embodiment approach 2

[0026] Specific implementation mode two: the difference between this implementation mode and specific implementation mode one is that the specific process of step one includes:

[0027] The state space form of the dynamic model is specifically:

[0028]

[0029] where x k is the state variable of the dynamic model of the networked control system at time k, x k+1 is the state variable of the dynamic model of the networked control system at time k+1, for k-d k The state variables of the dynamic model of the networked control system at time; d k is a bounded time-varying delay, satisfying d m ≤d k ≤d M , d m 、d M respectively d k The lower and upper bounds of x k-p is the state variable of the dynamic model of the networked control system at time k-p; A is the system matrix, A d is the system delay matrix, B is the system control matrix, C is the delay distribution matrix, and D is the system disturbance matrix; f(x k ) is a bounded nonlinear disturbance function;...

specific Embodiment approach 3

[0035] Specific embodiment three: the difference between this embodiment and specific embodiment two is that the sliding mode function described in step two is specifically:

[0036]

[0037] Among them, G=B T P, B T is the transpose of B, the matrix P to be solved is a symmetric positive definite matrix, satisfying that GB is non-singular and G[CD]=0; x k-2 is the state variable of the dynamic model of the networked control system at time k-2.

[0038] Other steps and parameters are the same as those in Embodiment 1 or 2.

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Abstract

The invention provides a sliding mode control method for a networked control system under the circumstance of an uncertain probability of occurrence. The sliding mode control method belongs to the technical field of sliding mode control. The sliding mode control method comprises the steps of: firstly, designing a sliding mode function for a dynamic model of the networked control system having distributed sensor delay and bounded time-varying delay under the circumstance of data packet loss with an uncertain probability of occurrence, constructing a controller of the system and substituting thecontrolling into the dynamic model and the sliding mode function, ensuring that the obtained sliding mode function converges into a belt-like neighborhood of a sliding mode surface within a finite time, and acquiring equivalent control at the moment; substituting the equivalent control into the networked control system to obtain a closed-loop system, analyzing the stability of the closed-loop system, and finally acquiring a matrix to be solved in the sliding mode function, thereby realizing the sliding mode control method. The sliding mode control method solves the problem that the existing sliding mode control method cannot deal with the distributed sensor delay and bounded time-varying delay simultaneously under the circumstance that the networked control system has data packet loss with the uncertain probability of occurrence. The sliding mode control method can be applied to sliding mode control of the system.

Description

technical field [0001] The invention relates to a sliding mode control method of a networked control system, belonging to the technical field of sliding mode control. Background technique [0002] Sliding mode control is a key research technology in the control system. It uses a special control method to make the state trajectory of the system slide to the desired point along the artificially specified phase trajectory (sliding mode surface). The system has more invariance than robustness when moving on the sliding mode surface, and the sliding mode control method has simple structure and quick response, so it has been widely concerned in complex industrial control problems. [0003] In the case of data packet loss with uncertain probability in the networked control system, the existing sliding mode control method cannot handle the distributed sensor time-delay and the bounded time-varying time-delay at the same time, and it is difficult to control the stability of the syste...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 胡军张红旭武志辉陈东彦刘凤秋孟桂芝李泽昊张昌露
Owner HARBIN UNIV OF SCI & TECH
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