Data-based predictive control with delay compensation for networked nonlinear systems with packet dropouts and delays in two channels
In this paper, it addresses a sort of predictive control with the delay compensation for a kind of nonlinear networked control systems, which have packet dropouts and delays in both sensor-to-controller channel and controller-to-actuator channel. Firstly, an event trigger is designed at the controller side to save the limited resources. Only when the control signals satisfy the event-triggered condition, can the control signals be transmitted to the controller. Secondly, in order to reduce the influence of the delays and packet dropouts, a delay compensator is designed at the actuator side, which includes calculating the control augmenters on the basis of the measured output errors at the controller side and designing an adaptive control algorithm in accordance with the newest control increment accessible at the actuator side. Then a sufficient condition is derived to ensure the stability of closed-loop systems and the convergence of output error. The method mentioned in this thesis is based on the data of the inputs and outputs of the system, without depending on the accurate information of the model. Finally, a numerical simulation is employed to demonstrate the practicability of the proposed scheme.