Abstract

Random delay and medium access constraints have attracted much attention in network-based control systems. The concept of coupling design of control and scheduling is given at first in this paper in comparison to the separation design of control and scheduling. Second, the core idea of coupling design of control and scheduling with random delay and medium access constraints is refined and further clarified to help us introduce the new algorithm. Third, a predictive optimal coupling design algorithm of control and scheduling with random delay and medium access constraints is proposed. In this scheme, the system dynamics are deployed in the scheduler to determine which communication sequence will be used. By introducing the quadratic performance index and cyclic optimization strategy, the optimal combination of communication sequences and control gains is obtained on-line. In addition, forward and feedback paths are considered here. To demonstrate the performance of the proposed algorithm, an illustrative example with outside disturbance based on four-wheel steering vehicle are finally given and analyzed in detail.

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