Robust Integral Sliding Mode Control of Uncertain Networked Control Systems with Multiple Data Packet Losses

In this paper, a robust integral sliding mode control problem for networked control systems with multiple data packet losses is investigated. The data packet losses occur in both sensor-to-controller and controller-to-actuator channels in a random way and they are modelled by independent Bernoulli binary distributed white sequences. The considered class of system is also subject to matched uncertainties and external disturbances presence. A specific sliding mode surface which take into consideration the stochastic nature of the system is proposed to generate a stable sliding mode dynamics for closed loop system. An integral sliding mode controller is designed to ensure the reachability of the specified sliding mode domain. Finally, simulation results, carried out on a linearized model of cart pendulum system, illustrate the effectiveness of the proposed approach.

[1]  Donghua Zhou,et al.  Design and performance analysis of networked predictive control systems based on input-output difference equation model , 2016, International Journal of Control, Automation and Systems.

[2]  Han Ho Choi,et al.  An LMI-based switching surface design method for a class of mismatched uncertain systems , 2003, IEEE Trans. Autom. Control..

[3]  Z. Guan,et al.  Performance limitations of networked control systems with quantization and packet dropouts. , 2017, ISA transactions.

[4]  Mary E. Landry,et al.  Dynamics of an Inverted Pendulum with Delayed Feedback Control , 2005, SIAM J. Appl. Dyn. Syst..

[5]  Sungwan Kim,et al.  Guest editorial: Special issue on Soft Robotics , 2017 .

[6]  Sirish L. Shah,et al.  Optimal H2 filtering with random sensor delay, multiple packet dropout and uncertain observations , 2007, Int. J. Control.

[7]  Huanshui Zhang,et al.  Optimal Control and Stabilization for Networked Control Systems With Packet Dropout and Input Delay , 2017, IEEE Transactions on Circuits and Systems II: Express Briefs.

[8]  Wen-an Zhang,et al.  Output feedback guaranteed cost control of networked linear systems with random packet losses , 2010, Int. J. Syst. Sci..

[9]  S. Nguang,et al.  Robust H∞ state feedback control of NCSs with Poisson noise and successive packet dropouts , 2015 .

[10]  Peng Shi,et al.  A survey on Markovian jump systems: Modeling and design , 2015 .

[11]  Zidong Wang,et al.  Robust ℋ︁∞ sliding mode control for nonlinear stochastic systems with multiple data packet losses , 2012 .

[12]  Guo-Ping Liu,et al.  Filtering for Discrete-Time Networked Nonlinear Systems With Mixed Random Delays and Packet Dropouts , 2011, IEEE Transactions on Automatic Control.

[13]  Xinghuo Yu,et al.  On the Discrete-Time Integral Sliding-Mode Control , 2007, IEEE Transactions on Automatic Control.

[14]  Yugang Niu,et al.  Sliding mode control for stochastic systems subject to packet losses , 2012, Inf. Sci..

[15]  Fuwen Yang,et al.  Network-based simultaneous H∞ stabilization for chemical reaction systems with multiple packet dropouts , 2017 .

[16]  Huanshui Zhang,et al.  Necessary and sufficient stabilizing conditions for networked control systems with simultaneous transmission delay and packet dropout , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

[17]  Chih-Lyang Hwang,et al.  Robust discrete variable structure control with finite-time approach to switching surface , 2002, Autom..

[18]  Qing-Long Han,et al.  H∞ control for networked systems with multiple packet dropouts , 2013, Inf. Sci..

[19]  Yuanqing Xia,et al.  Sliding-Mode Predictive Control of Networked Control Systems Under a Multiple-Packet Transmission Policy , 2014, IEEE Transactions on Industrial Electronics.

[20]  Hui Zhang,et al.  Robust H∞ sliding-mode control for Markovian jump systems subject to intermittent observations and partially known transition probabilities , 2013, Syst. Control. Lett..

[21]  Yugang Niu,et al.  Design of Sliding Mode Control Subject to Packet Losses , 2010, IEEE Transactions on Automatic Control.

[22]  Huijun Gao,et al.  ${\cal H}_{\infty}$ Estimation for Uncertain Systems With Limited Communication Capacity , 2007, IEEE Transactions on Automatic Control.

[23]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[24]  Chaouki Mnasri,et al.  LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems , 2011, Int. J. Appl. Math. Comput. Sci..

[25]  Chih-Chiang Cheng,et al.  Sliding mode controllers design for linear discrete-time systems with matching perturbations , 2000, Autom..

[26]  Christopher Edwards,et al.  Sliding mode control : theory and applications , 1998 .

[27]  Tongwen Chen,et al.  Optimal ${\cal H}_{2}$ Filtering in Networked Control Systems With Multiple Packet Dropout , 2007, IEEE Transactions on Automatic Control.

[28]  Andrzej Bartoszewicz,et al.  Discrete time sliding mode control with reduced switching – a new reaching law approach , 2016 .

[29]  James Lam,et al.  Stabilization of linear systems over networks with bounded packet loss , 2007, Autom..

[30]  Fuwen Yang,et al.  Robust $H_{\infty}$ Control for Networked Systems With Random Packet Losses , 2007, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[31]  James Lam,et al.  Fault Detection for Fuzzy Systems With Intermittent Measurements , 2009, IEEE Transactions on Fuzzy Systems.

[32]  Fuwen Yang,et al.  Robust $H_{\infty }$ Control With Missing Measurements and Time Delays , 2007, IEEE Transactions on Automatic Control.

[33]  Bijnan Bandyopadhyay,et al.  A generalized reaching law for discrete time sliding mode control , 2015, Autom..

[34]  Chaouki Mnasri,et al.  Mean Square Stability Based on H∞ Control for Uncertain Networked Control Systems with Random Data Loss , 2015 .

[35]  Fuwen Yang,et al.  H∞ control for networked systems with random communication delays , 2006, IEEE Trans. Autom. Control..

[36]  Claudio Bonivento,et al.  Discrete variable-structure integral controllers , 1998, Autom..

[37]  Haifeng Ma,et al.  A Novel Exponential Reaching Law of Discrete-Time Sliding-Mode Control , 2017, IEEE Transactions on Industrial Electronics.

[38]  Zoran M. Bučevac,et al.  Discrete-time chattering free exponentially stabilizing sliding mode scalar control via Lyapunov’s method , 2016 .

[39]  Xinghuo Yu,et al.  Survey on Recent Advances in Networked Control Systems , 2016, IEEE Transactions on Industrial Informatics.

[40]  Weibing Gao,et al.  Discrete-time variable structure control systems , 1995, IEEE Trans. Ind. Electron..

[41]  Zehui Mao,et al.  A fault-tolerant control framework for a class of non-linear networked control systems , 2009, Int. J. Syst. Sci..

[42]  Xinghuo Yu,et al.  On sliding mode control for networked control systems with semi-Markovian switching and random sensor delays , 2016, Inf. Sci..

[43]  Donghua Zhou,et al.  Networked fault detection with random communication delays and packet losses , 2008, Int. J. Syst. Sci..