Robust $H_{\infty }$ Self-Triggered Control of Networked Systems Under Packet Dropouts
针对存在参数不确定性、丢包和随机时延的网络化系统，提出一种新的自触发控制方案，通过预测事件间隔并均分以补偿丢包，利用代数Riccati方程保证系统稳定性，并用倒立摆算例验证有效性。
self-triggered control of networked systems. The system considered here includes parameter uncertainties, packet dropouts, and time delays. The time delay is described in a stochastic way, which takes a value from a given finite set. In order to compensate for the existence of deterministic packet dropouts, a new self-triggered control scheme is proposed. The main feature of the proposed self-triggered control strategy is that the next control task is predicted based on the self-triggered technique, in which the predicted event interval is divided equally for the sake of packet dropouts. The triggered condition is developed to ensure the stability of the uncertain sampled system by utilizing an uncertain algebraic Riccati equation and the comparison principle. Finally, an example of the inverted pendulum of a cart is provided to illustrate the effectiveness of the proposed results.