信道受限和能量约束下的网络化系统协同设计方法研究

Due to the limitation of bandwidth and energy resources, the problems of channel competition and packet dropout become more obvious in networked control systems (NCSs). It is a challenging topic how to increase system performance by reasonably allocating the resources and designing controller. For this purpose, this project contributes to the development of a scheduling and control co-design strategy such that the stabilization of multiple subsystems under channel constraint and energy limitation can be solved. According to the different driving modes of nodes, three channel scheduling ways including static, dynamic and stochastic scheduling policies are used to discuss the co-design method for channel scheduling, power allocation and controller under chargeable and non-chargeable sensor situations respectively. The co-design strategy can guarantee the system with desire control performance under limited channel and energy resources. The advantage of this co-design strategy lies in that it combines the advantages of previous channel scheduling policy and power allocation strategy, makes a balance among the bandwidth, energy and system performance, and provides a foundation for the research and application of the coordination of multiple systems in the future.

由于带宽和能量等资源限制，使得网络化控制系统中信道竞争和丢包现象愈发明显，如何通过合理的资源配置和控制器设计提升系统性能是一个极具挑战性的课题。本项目拟针对这一课题，采用调度与控制协同设计方法解决信道受限和能量约束下多子系统的镇定问题。根据系统节点驱动方式的不同，分别采用静态、动态和随机三种信道调度方式，讨论充电和不可充电两种传感器模式下，信道调度策略、功率分配策略和控制器的协同设计方法，使得系统在有限信道和能量约束的前提下具有理想的控制性能。这种协同设计策略的优势在于综合了以往信道调度策略和功率分配策略的优缺点，兼顾了带宽、能量和系统性能三者之间的平衡，为日后多系统协作控制的研究和应用奠定了基础。

网络资源受限一直以来都是困扰网络化控制系统发展的重要瓶颈，其中，信道受限、能量约束以及丢包衰落等都是较为热点的问题。针对上述问题，本项目进行了深入的研究。首先，根据信道接入状态和发送功率的不同，将网络化控制系统建模为一个由多种子系统组成的切换系统，得到了信道受限和能量约束下的网络化控制系统的新模型。然后，分别采用定常、时变平均驻留时间技术以及随机李雅普诺夫理论分析静态、动态以及随机信道调度策略下单系统稳定的充分条件，进而得到使多系统同时镇定的信道功率可调度条件。最后，采用动态规划、LMI优化以及粒子群优化等智能算法协同设计信道调度策略、功率分配策略和控制器，使得系统在保证控制性能的同时通信能耗最优，并将所得结果进一步推广到无人车及无人船的编队控制中，为多无人系统网络化协作控制奠定基础。