Two Kinds Of Control Methods Depending On Network-Induced Constraints And Their Applications In Vehicle Control

Network control systems are a kind of control systems where sensors,actuators,and controllers are interconnected through a communication network.Compared with traditional point-to-point control systems,network control systems have many advantages,such as low installation and maintenance costs,strong reliability,etc.,and have been widely used in unmanned aerial vehicles,robots,and other fields.However,the communication network inevitably introduces some networkinduced constraints,which may have negative effects on the control system.For example,excessive communication delay may deteriorate system performance or even make the system unstable.Therefore,it is of great significance to consider the control method depending on network-induced constraints for the research of network control systems.Based on the above discussion,this thesis mainly studies two kinds of control methods depending on network-induced constraints and their applications in vehicle control.The research content of this thesis is mainly divided into two parts:(1)Communication-delay-range-dependent H∞ performance analysis condition and the state feedback controller design method are proposed for the state feedback control of linear networked control systems.Firstly,an improved binary quadratic delay convex analysis lemma is proposed,and it is proved that the proposed lemma can further relax the negative-determination conditions of binary quadratic functions from the perspective of set theory.Then,a novel discontinuous augmented Lyapunov-Krasovskii functional is constructed,and the H∞performance analysis condition and controller design method depending on communication delay and input delay range are given in the form of linear matrix inequalities.Finally,three typical numerical examples show that the stability condition is less conservative,and the simulation results verify the effectiveness of the controller design method.(2)Asynchronous-deviation-range-dependent H∞ performance analysis condition and the fuzzy state feedback controller design method are proposed for the fuzzy state feedback control of nonlinear networked control systems.Firstly,a tight lower bound of the discontinuous augmented Lyapunov-Krasovskii functional is provided.which reduces the constraints on the construction of LyapunovKrasovskii functional.Furthermore,the H∞ performance analysis condition and controller design method depending on asynchronous deviation bound are given in the form of linear matrix inequalities.Finally,the research results are applied to networked vehicle control,and the feasibility and effectiveness of the proposed method are confirmed by fuzzy system modeling and networked control of vehicle models.Finally,this thesis summarizes and prospects the work.