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对于网络诱发延迟大于一个采样周期的网络化控制系统,该文研究了该系统的线性二次Gauss(LQG)随机最优控制问题,提出了一种新的分时控制模式。这种控制模式充分利用了系统信息并能改善系统的性能。在该控制模式下建立了网络化控制系统的随机数学模型。该文还讨论了网络化控制系统中传输延迟的Markov特性,基于这种Markov链理论,设计了具有完全状态信息的系统线性二次Gauss随机最优控制器。仿真结果验证了该分时控制模式比没考虑延迟的优化控制和没充分利用控制量的控制模式有更好的控制效果。
For a networked control system whose network induced delay is more than one sampling period, this paper studies the problem of linear quadratic Gauss (LQG) stochastic optimal control of the system and proposes a new time-sharing control mode. This control mode takes full advantage of system information and improves system performance. In this control mode, a stochastic mathematical model of networked control system is established. The paper also discusses the Markov property of transmission delay in networked control systems. Based on this Markov chain theory, a system of linear quadratic Gaussian stochastic optimal controllers with complete state information is designed. The simulation results show that the time-sharing control model has better control effects than the optimal control without considering the delay and the control mode which does not make full use of the control variables.