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Designing Discrete Predictor-Based Controllers for Networked Control Systems with Time-varying Delays:Application to A Visual Servo Inverted Pendulum System

查看全文 作　　者：Yang [1]Deng;Vincent [2]Léchappé;Changda [3]Zhang;Emmanuel [4]Moulay;Dajun [3]Du;Franck [5,6]Plestan;Qing-Long [5,7]Han 高影响力作者 机构地区：[1]the Department of Automation,Tsinghua University,Beijing 100084,China;[2]the Université de Lyon,INSA de Lyon,ECL,UniversitéClaude Bernard Lyon 1,CNRS,Ampère,F-69621,Villeurbanne,Franc;[3]the Shanghai Key Laboratory of Power Station Automation Technology,School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 20072,China;[4]the XLIM(UMR CNRS 7252),Université de Poitiers,11 bd Marie et Pierre Curie,86073 Poitiers Cedex 9,France;[5]IEEE;[6]the Nantes Université,école Centrale Nantes,CNRS,LS2N,UMR 6004,F-44000 Nantes,France;[7]the School of Science,Computing and Engineering Technologies,Swinburne University of Technology,Melbourne,Victoria 3122,Australia高影响力机构 出　　处：《IEEE/CAA Journal of Automatica Sinica》索引2022年第9卷第10期,共15页高影响力期刊 基　　金：supported by the China Scholarship Council(CSC);the National Natural Science Foundation of China(92067106)。 摘　　要：A discrete predictor-based control method is developed for a class of linear time-invariant networked control systems with a sensor-to-controller time-varying delay and a controller-to-actuator uncertain constant delay,which can be potentially applied to vision-based control systems.The control scheme is composed of a state prediction and a discrete predictor-based controller.The state prediction is used to compensate for the effect of the sensor-to-controller delay,and the system can be stabilized by the discrete predictor-based controller.Moreover,it is shown that the control scheme is also robust with respect to slight message rejections.Finally,the main theoretical results are illustrated by simulation results and experimental results based on a networked visual servo inverted pendulum system. 关 键 词：Discrete predictor-based control inverted pendulum system networked control system time-varying delay vision-based control
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