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基于混杂系统理论的网络化控制研究
其他题名Research on Networked Control Based on Hybrid Systems Theory
郑刚
学位类型工学博士
导师谭民 ; 宋永华
2004-05-01
学位授予单位中国科学院研究生院
学位授予地点中国科学院自动化研究所
学位专业控制理论与控制工程
关键词混杂系统 网络化控制 稳定性分析 拥塞控制 最优控制 Hybrid Systems Networked Control Stability Analysis Congestion Control Optimal Control
摘要混杂系统研究是控制科学与工程中的一个重要的研究方向。网络化控制系 统是一个典型的混杂系统,本文利用混杂系统的建模、分析和控制方法研究了 网络化控制系统的稳定性、优化控制与TCP拥塞控制的性能评估等问题。 本文首先从建模、分析、控制综合、应用等多个方面对混杂系统的研究进 展进行了比较系统的总结,并介绍了本文的选题背景和主要内容。 其次,分析了网络化控制系统的基本特征,用采样数据反馈控制系统模型 来描述网络化控制系统;利用具有时滞的混杂系统稳定性分析理论,推导了在 采样时刻具有分段恒定时滞的采样数据反馈控制系统在采样周期为h时保持稳 定的充分条件;在此基础上,设计控制器实现对网络化控制系统的镇定。 第三,采用时滞混杂自动机模型研究存在时滞的多模式网络化控制系统的 稳定性,给出了系统保持稳定的充分条件,提出了构造多L~apunov泛函来判断 系统稳定性的方法;针对在时滞混杂自动机中连续性子系统为线性时不变时滞 系统的情况,将寻找公共Lyapunov泛函的问题转化为一个线性矩阵不等式的求 解问题,并分析该类系统的稳定性。 第四,采用随机混杂自动机模型来描述TCP拥塞控制的“和式增加积式减 少(AIMD)”行为;研究了拥塞窗口动态行为表现出的统计特征,得到了网络 连接平均吞吐量的表达式:分析了丢包概率对网络吞吐量的影响,评估TCP拥 塞控制性能;并研究了在广域网拥塞控制中重传定时器(Retransmission Timer) 的超时处理机制,得到具有一般性的结果。 第五,采用分段仿射系统模型描述基于状态切换的多模式网络化控制系统, 研究了在有限时间内,性能指标为2.范数形式的网络化系统的最优控制问题; 给出了以多参数二次规划为工具,利用动态规划方法求解最优控制律的方法, 并将最优控制方法用于对系统的镇定。 最后,对本文所开展的工作进行了总结,并指出了需要进一步研究的工作。
其他摘要Hybrid systems have attracted considerable attention in recent years. Networked control systems are regarded as a typical class of hybrid systems. The stability, optimal control of networked control systems and the performance evaluation of TCP congestion control are studied in this paper based on the modeling, analysis and control synthesis methodology of hybrid systems in this dissertation. Firstly, a survey on the modeling, analysis, control synthesis, application of hybrid systems is presented, also, the motivation and the outline of this dissertation are given. Secondly, the basic features of networked control systems are analyzed, then, a sampled-data feedback control system, one of models of hybrid systems, is used to model the class of networked control systems. The sufficient conditions of the stability for a sampled-data feedback control system with sampling period h and piecewise constant delay at sampling instants is presented by the stability theory of hybrid dynamical systems with delay, based on this result, a controller synthesis procedure is proposed to stabilize the networked control systems with delay. Thirdly, a hybrid automaton with delay (HAD) is addressed to model the class of networked control systems which exhibit multiple continuous dynamics, based on this model, the sufficient conditions of the stability of an equilibrium of the systems are presented, in which the key element is constructing multiple Lyapunov functionals. For the case where the continuous dynamics in the HAD are denoted by linear time invariant systems with delay, the Linear Matrix Inequality (LMI) technique is employed to analyze the stability instead of finding the common functional. Fourthly, a stochastic hybrid automaton is proposed to model the TCP additive increase and multiplicative decrease (AIMD) behavior of the congestion window size of TCP source, which is one of TCP congestion control mechanisms, on the basis of this model, the statistical performance of the congestion window size of TCP source and the throughput in the TCP connection are evaluated. Moreover, for the case where the timeout is a dominant congestion indication of the wide area network (WAN), the timeout mechanism about the retransmission timer is studied, and a more general evaluation results are obtained. Fifthly, the optimal control problem of the constrained and networked control systems in finite time horizon, with 2-norm performance index, is investigated based on the discrete time piecewise affine system (PWA) model, and the optimal solution to this problem is got by combining the dynamical programming and multiparametric quadratic programming techniques. In addition, the optimal controller can be used to stabilize the networked control system. Finally, the conclusions got in this dissertation are summarized, and the further work is also addressed.
馆藏号XWLW820
其他标识符820
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/5802
专题毕业生_博士学位论文
推荐引用方式
GB/T 7714
郑刚. 基于混杂系统理论的网络化控制研究[D]. 中国科学院自动化研究所. 中国科学院研究生院,2004.
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