Contributions to Networked and Event-Triggered Control of Linear Systems (eBook)

Parts of this thesis have been published in the following articles: 6
Supervisors’ Foreword 9
Foreword by CEA 11
Acknowledgments 13
Contents 15
Abbreviations 19
Symbols 21
About the Author 24
1 Introduction 25
1.1 Control over Networks 25
1.1.1 General Issues 25
1.1.2 Work in the Area of Control over Network 28
1.2 System Architecture 30
1.2.1 Single Loop Schemes 31
1.2.2 Multi-loop Schemes 32
1.3 Event-Based Control 34
1.3.1 Preliminaries 34
1.3.2 Event-Based Control and NCS 35
1.4 Model-Based Control in NCS 38
1.5 Objectives of the Thesis 39
1.6 Outlines and Contributions 40
1.7 Publications and Projects 41
References 43
2 Anticipative Control Design in Internet-Like Networks 49
2.1 Introduction 49
2.2 Contributions of This Chapter 50
2.3 Assumptions 51
2.4 The Controller Adaptation Layer (CAL) 54
2.4.1 Packets Processing 54
2.4.2 Control Sequence Computation 55
2.5 The Process Adaptation Layer (PAL) 56
2.6 Event-Based Anticipative Control 57
2.6.1 CAL Design for Event-Based Control 58
2.6.2 PAL Design for Event-Based Control 59
2.7 Stability Analysis 60
2.7.1 Analysis of the Maximum RTT and the Model Uncertainties 63
2.7.2 Analysis of the Error Bounds 66
2.8 Disturbance Estimator 68
2.8.1 Stability Analysis 71
2.9 Output-Based Event-Triggered Control 72
2.9.1 PAL Design for Output Measurement 73
2.9.2 CAL Design for Output Measurement 74
2.9.3 Stability Analysis 76
2.9.4 PI Anticipative Control 78
2.10 Centralized Anticipative Control for N Subsystems 80
2.10.1 The Scheduler 82
2.11 Conclusions 84
References 84
3 Implementation and Experimental Evaluation of the Anticipative Control 86
3.1 Contributions of This Chapter 86
3.2 Experimental Framework 86
3.2.1 Prototypes Overview 87
3.3 Implementing the CAL and the PAL in LabVIEW 91
3.3.1 Implementation of the PAL 91
3.3.2 Implementation of the CAL 92
3.4 Experimental Results 93
3.4.1 Performance of Event-Based Control 94
3.4.2 Response to Disturbances 96
3.4.3 PI Anticipative Controller 98
3.4.4 Network: Delays and Packet Losses 99
3.5 Conclusions 102
References 103
4 Distributed Event-Based Control for Interconnected Linear Systems 104
4.1 Introduction 104
4.2 Contributions of this Chapter 105
4.3 Background and Problem Statement 106
4.3.1 Matrix and Perturbations Analysis 106
4.3.2 Problem Statement 109
4.4 Event-Based Control Strategy 111
4.5 Results for Perfect Decoupling 112
4.5.1 Static Trigger Functions 116
4.5.2 Pure Exponential Trigger Functions 116
4.5.3 Simulation Results 117
4.6 The Non-perfect Decoupling Case 120
4.6.1 Simulation Results 123
4.7 Extension to Discrete-Time Systems 124
4.7.1 System Description 124
4.7.2 Discrete-Time Trigger Functions 125
4.7.3 Stability Analysis 126
4.8 Conclusions 128
References 129
5 Extensions and Improvements of the Distributed Event-Based Control 130
5.1 Introduction 130
5.2 Contributions of This Chapter 132
5.3 Extension to Non-reliable Network 133
5.3.1 Transmission Protocols 134
5.3.2 Performance Analysis for Perfect Decoupling 137
5.3.3 Performance Analysis for Non Perfect Decoupling 144
5.3.4 Simulation Results 147
5.4 Reducing Actuation in Distributed Control Systems 150
5.4.1 Trigger Functions 150
5.4.2 Performance Analysis 153
5.4.3 Simulation Results 157
5.5 Model-Based Design 160
5.5.1 Main Result 162
5.5.2 Simulation Results 164
5.6 Conclusions 165
References 166
6 Simulation Tools and Application Example of the DEBC: Networked Mobile Robots 168
6.1 Introduction 168
6.2 Contributions of This Chapter 169
6.3 Formation Control for Networked Mobile Robots 170
6.3.1 Multi-agent Systems and the Consensus Problem 170
6.3.2 Formation Control 172
6.3.3 Model of Non-holonomic Mobile Robots 173
6.3.4 Time-Schedule Control 176
6.3.5 Robot Wireless Communication Protocols 177
6.4 MaSS: Multi-agent Systems Simulator 178
6.4.1 Existing Tools 179
6.4.2 Description of the GUI 180
6.4.3 Modeling a Multi-agent System in Ejs 182
6.4.4 Using MaSS 187
6.5 Application Example to a Real Testbed 190
6.5.1 Experimental Framework 191
6.5.2 Experimental Results 192
6.6 Conclusions 198
References 198
7 Conclusions and Future Work 200
7.1 Conclusions 200
7.2 Future Work 201
References 202
8 Proofs 203
8.1 Proof of Theorem2.22.2 203
8.2 Proof of Theorem2.32.3 204
8.3 Proof of Theorem4.24.2 204
8.4 Derivation of (4.45) 206
8.5 Proof of Theorem4.34.3 207
8.6 Proof of Proposition5.25.2 209
8.7 Proof of Theorem5.35.3 210
8.8 Proof of Theorem5.45.4 211
8.9 Proof of Theorem5.55.5 212
8.10 Proof of Theorem5.65.6 213
Appendix A Prototypes Models 214
Appendix B Software 219