Design of L2 stable fixed-order decentralised controllers in a network of sampled-data systems with time-delays

Autor: Laurentiu Hetel, Jean-Pierre Richard, Wim Michiels, Deesh Dileep, Nathan van de Wouw, Jijju Thomas
Rok vydání: 2020
Předmět:
Zdroj: European Journal of Control. 56:73-85
ISSN: 0947-3580
DOI: 10.1016/j.ejcon.2020.02.002
Popis: A methodology is proposed for the design of sampled-data fixed-order decentralised controllers for Multiple Input Multiple Output (MIMO) Linear Time-Invariant (LTI) time-delay systems. Imperfections in the communications links between continuous-time plants ans controllers arising due to transmission time-delay, aperiodic sampling, and asynchronous sensors ans actuators are considered. We model the errors induced due to the control imperfections using an operator approach leading to a simple $L2$, stability criterion. A frequency domain-based direct optimisation approach towards controller desing is proposed in thir paper. This approach relies on the minimisation of cost functions, for stability and robustness against control imperfections, as a function of the controller or design parameters. First, the proposed method towards controller design is applied to generic MIMO LTI systems with time-delay. Second, when the delay system to be controlled has the structure of a network of coupled quasi-identical subsystems, we use a scalable algorithm to design identical decentralised controllers through network structure exploitation. Quasi-identical subsystems are identical subsystems that have non-identical uncertainties or control imperfections. By exploiting the structure, we improve the computational efficiency and scalability with the number of subsystems. The methodology has been implemented in a publicly available software, which supports system models in terms of delay differential algebraic equations. Finally, the effectiveness of the methodology is illustrated using a numerical example.
Databáze: OpenAIRE
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