A New Delay-Compensation Scheme for Networked Control Systems in Controller Area Networks

被引：128
作者：
Zhang, Hui [1 ,2 ]
Shi, Yang [3 ]
Wang, Junmin [4 ]
Chen, Hong [5 ,6 ]
机构：
[1] Beihang Univ, Sch Transportat Sci & Engn, Beijing 100191, Peoples R China
[2] Beihang Univ, Sci & Technol Reliabil & Environm Engn Lab, Beijing 100191, Peoples R China
[3] Univ Victoria, Dept Mech Engn, Victoria, BC V8W 2Y2, Canada
[4] Ohio State Univ, Dept Mech & Aerosp Engn, Columbus, OH 43210 USA
[5] Jilin Univ, State Key Lab Automot Simulat & Control, Changchun 130025, Jilin, Peoples R China
[6] Jilin Univ, Dept Control Sci & Engn, Changchun 130025, Jilin, Peoples R China
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2018年 / 65卷 / 09期
基金：
美国国家科学基金会;
关键词：
Controller area network (CAN); electronic throttle; networked control system (NCS); time-domain Smith predictor; DISCRETE-TIME-SYSTEMS; OUTPUT-FEEDBACK CONTROL; H-INFINITY CONTROL; PREDICTIVE CONTROL; STABILIZATION; DESIGN; PERFORMANCE; STABILITY;
D O I：
10.1109/TIE.2018.2795574
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work, we aim to study a new delay-compensation algorithm for networked control systems (NCSs) which are connected via the controller area network (CAN) buses. First, we analyze the property of CAN bus and find the main sources of CAN-bus-induced delays. The system controlled through a CAN bus is formulated into the typical framework of NCSs. Different from the traditional state feedback or output feedback control schemes, we propose a feedback control law with the aid of a time-domain Smith predictor. By using the augmentation technique, a closed-loop system with a delayed state is obtained. Then, the asymptotical stability property of the closed-loop system is investigated and a sufficient condition with a bilinear matrix inequality (BMI) is derived. The obtained BMI is converted into a linear matrix inequality (LMI) and the feedback gain in the proposed control law is calculated by solving the LMI condition. Finally, two application examples are given to illustrate the advantages and the effectiveness of the proposed controller design method.
引用
收藏
页码：7239 / 7247
页数：9
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