Predictive Control of Networked High-Order Fully Actuated Systems with Packets Dropouts

Abstract

This research investigates an output tracking problem for networked control systems (NCSs) with packets dropouts. A high-order fully actuated (HOFA) model is applied to describe the dynamical model of NCSs. Correspondingly, a HOFA predictive control method is presented to solve this problem, where a HOFA prediction model can be established by using a Diophantine equation (DE) to substitute a reduced-order prediction model, then the multi-step output predictions are developed to derive an optimal control protocol which can implement the output tracking and compensate for the packets dropouts. A simple criterion is given to maintain the stability and output tracking for closed-loop NHOFA systems. Numerical simulation and comparison are provided to verify the feasibility of the proposed method.