研究了带有多径通信路由的网络化控制系统的通信路径调度和控制器的协 同设计问题. 通过将不同通信路径切换及带来的时延变化建模为系统模态的切换, 得到 了所研究系统的切换系统模型. 给出了使得闭环系统指数稳定的通信路径调度所需满足的条件, 并提出 了满足系统稳定和网络负载均衡的闭环通信路径调度方案和控制器设计方法. 数值仿真算例验证了算 法的优越性和有效性.

Path scheduling and controller codesign are investigated for networked control systems with multipath routing communications. A switched system model is obtained by modelling the delay variations caused by the path switch as the modes switches in the system. The conditions are given for the path scheduling algorithm to ensure the exponential stability of the closed-loop system, and consequently the path scheduling scheme and the controller design method are proposed which guarantee the closed-loop system stability as well as the balance of the network loads. Numerical examples illustrate the effectiveness of the proposed method.