具有随机丢包的关联系统的分散控制

研究了在子系统之间信息传输存在随机丢包现象时关联大系统的性能分析及控制器设计问题. 通过引入空间变量及空间移动算子, 将关联系统建模成具有Markovian跳变参数的关于离散时间变量和空间变量的多维系统, 结合跳变系统有界实引理, 得到使整个关联系统均方稳定并满足一定性能指标的解析条件. 然后基于线性矩阵不等式变换给出确保关联大系统鲁棒均方稳定性的一种分散输出反馈控制器的设计方法. 最后通过一组多机器人直线编队的例子说明本文算法的正确性和有效性.

Decentralized control of interconnected systems with random communication packet dropout

The stability analysis and controller synthesis are thoroughly investigated for large-scale interconnected systems, which subject to random communication packet dropout between subsystems. Spatial variables and spatial shift operators are introduced to model the interconnected systems with packet dropout as multidimensional systems of discrete-time and spatial variables and with Markovian jumping parameter. Analytical criteria are obtained for the whole interconnected system to be mean-square stable and to have the prescribed performance, based on the bounded real lemma for jump systems. Next, a method of designing the decentralized output feedback controller is proposed, which is expressed in terms of linear matrix inequalities. Finally, an example of multi-robot formation control with consideration to the packet dropout is exploited to demonstrate the validity and effectiveness of the proposed model and method.