Robust sliding mode control for uncertain networked control system with two-channel packet dropouts

Abstract

A robust sliding mode control algorithm is developed for a class of networked control system with packet dropouts in both sensor-controller channel and controller-actuator channel, and at the same time mismatched parametric uncertainty and external disturbance are also taken into consideration. A two-level Bernoulli process has been used to describe the packet dropouts existing in both channels. A novel integral sliding surface is proposed, based on which the H_∞ performance of system sliding mode motion is analyzed. Then the sufficient condition for system stability and robustness is derived in the form of linear matrix inequality (LMI). A sliding mode controller is designed which can guarantee a relatively ideal system dynamic performance and has certain robustness against unknown parameter perturbations and external disturbances. The results from numerical simulations are presented to corroborate the validity of the proposed controller.

摘要

针对一类同时存在传感器-控制器以及控制器-执行器丢包的网络控制系统, 提出了一种鲁棒滑 模控制算法。首先, 基于随机 Bernoulli 建模方法建立了丢包系统模型。在此基础上提出了一种具有丢 包补偿项的鲁棒滑模面, 以及基于干扰上界的趋近率滑模控制器, 并应用 Lyapunov 稳定性分析方法, 分析了系统滑动模态的稳定性以及控制器的到达条件。仿真结果表明, 所设计的控制器能够有效抑制 双通道数据丢包对系统性能的影响, 同时对非匹配不确定性和外部干扰具有良好的鲁棒性。