Co-design of Control and Scheduling Over Network Based on Hybrid Modeling and Prediction
|School||Beijing Jiaotong University|
|Course||Control Theory and Control Engineering|
|Keywords||Networked Control Systems Scheduling Model Predictive Control Mixed Logical Dynamic Switched System Co-design|
Networked Control Systems (NCSs) is a spatially distributed feedback control system for which the communication between sensors, actuators, and controllers is supported by a shared communication network. Being the extension of computer network in the field of control, NCSs has gained wide applications in practice. The co-design of control and scheduling in NCSs is a key future direction, which needs further research. The research of Hybrid Systems is an important research direction in control science and engineering. NCSs is regarded as a typical class of hybrid systems, so it is significant to apply the hybrid systems to the study of NCSs.Predictive Control uses the technology of multi-step prediction, which makes it can solve the delay process problem in NCSs effectively. The co-design of control and scheduling in NCSs based on the Hybrid Systems and Predictive Control is studied in this dissertation.Firstly, the definition of NCSs and essential problems are described, and the modeling approaches of Hybrid Systems are introduced, as well as the research methods in co-design of control and scheduling in NCSs based on Hybrid Systems; Then, for a multi-input and multi-output(MIMO) NCS with communication constraint, a predictive control and scheduling co-design approach is proposed, and the effectiveness of the proposed results is demonstrated by the simulation using TrueTime toolbox.Secondly, the hybrid description and modeling method of NCSs is introduced. The model of NCS with medium access constraint is established in the Mixed Logical Dynamical framework. Based on the model, the optimal control problem of NCS is converted to a finite-time optimal control problem. This problem is solved by the Model Predictive Control of Hybrid System, and the optimal control sequence and scheduling sequence are obtained. In addition, the predictive control sequence generated is applied to alleviate the effect of the time delay in the system. The method optimize the control sequence and scheduling sequence simultaneously, so it is a co-design of dynamic scheduling and control for NCS in real sense.Then, for the problems of limited bandwith and time delay in NCSs, the Switched System model of NCSs is presented?the co-design of control and scheduling in NCSs is studied using the theory of Periodic Switched System, and the method combined with Fault-tolerant Control to make the system asymptotically stable is obtained. Predictive Control method is used to compensate for the communication constraint furtherly. Simulation results show that the NCS has relatively good performance with the scheme.Finally, the conclusions got in this dissertation are summarized.