Observer-Based Controller Design for a Class of Nonlinear Networked Control Systems with Random Time-Delays Modeled by Markov Chains

Abstract

This paper investigates the observer-based controller design problem for a class of nonlinear networked control systems with random time-delays. The nonlinearity is assumed to satisfy a global Lipschitz condition and two dependent Markov chains are employed to describe the time-delay from sensor to controller (S-C delay) and the time-delay from controller to actuator (C-A delay), respectively. The transition probabilities of S-C delay and C-A delay are both assumed to be partly inaccessible. Sufficient conditions on the stochastic stability for the closed-loop systems are obtained by constructing proper Lyapunov functional. The methods of calculating the controller and the observer gain matrix are also given. Two numerical examples are used to illustrate the effectiveness of the proposed method.

Robust H∞ Fault Detection for Networked Control Systems with Markov Time‐Delays and Data Packet Loss in Both S/C and C/A Channels

“…In order not to make the conclusion too complicated, this paper assumes that the elements of the transition probability matrix of time-delays are completely known. For partially unknown case, methods of separating known or unknown elements or estimating them with related inequalities can be used (see [21] for details).…”

Challenges for Novice Developers in Rough Terrain Rescue Robots: A Survey on Motion Control Systems

“…Estimating the change of acceleration and the robot's live displacement point is important to control the rescue robot on its looked-for pathway. Observer-Based Controller (OBC) is used to calculate the varying acceleration and the contact point when the BART LAB rescue robot is maneuvering on the unknown pathway [45]. OBC evaluates and compensates both the varying acceleration and robots position using torque observer and the predictable torque based on sensorless control method [46].…”

Robust H∞ Fault Detection for Networked Markov Jump Systems with Random Time‐Delay

“…When transition probabilities of and are partly unknown, we can separate the unknown ones from the known ones; see [28].…”