H_∞ control of networked control systems with stochastic measurement losses

摘要

In this paper, the modeling and H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> , control problems for the Networked Control System (NCS) with random data-packet losses in sensor-controller channel and disturbances are investigated. In specific, the networked system with sensor measurement losses is modeled as a Markovian jump linear system(MJLS) by using a multi-rate sampling approach, while the characteristics of network-induced packet losses are assumed to follow multiple-state Markov chain process. The sufficient conditions for the robustly stochastic stability of the NCS are obtained via the piecewise Lyapunov function method. Instead of designing a general robust controller, we take the dynamic network conditions into consideration when designing a statefeedback controller for the NCS. The stochastic packet-loss-dependant controller for the closed-loop networked system is presented in the formulation of linear matrix inequalities(LMIs), under the given H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> disturbance-rejection-attenuation level. Simulation results of a simple networked robotic arm show that the developed packet-loss-dependant controller can stabilize the networked system with both random sensor-measurement losses and disturbances robustly.