観測信号と操作信号の損失にロバストなラウンドロビンスケジューリング切り替え制御系

抄録

This paper proposes a feedback controller design in networked control systems, where communication channels of both sensor/controller and controller/actuator directions suffer from packet dropouts, under round-robin scheduling. We assume that the number of successive dropouts is bounded and that we are able to detect the occurrence of a packet drop without loss/delay. The proposed controller consists of an observer whose gain is switched according to the elapsed period, and feedback of estimated state as well. This enables us much less conservative design than using a single gain. The gains are designed via sufficient linear matrix inequality (LMI) conditions. The LMIs are derived by using a switched Lyapunov function method. The effectiveness of the proposed method is illustrated by numerical simulations.