Network-Based Modeling and Proportional-Integral Control for Direct-Drive-Wheel Systems in Wireless Network Environments

• Published in: IEEE transactions on cybernetics Vol. 50; no. 6; pp. 2462 - 2474
• Main Authors: Zhang, Dawei, Han, Qing-Long, Zhang, Xian-Ming
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.06.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Cables; Computer simulation; Continuous time systems; Control systems; Delays; Direct-drive-wheel (DDW) systems; height adjusting; Integrals; Linear matrix inequalities; Linear systems; Mathematical model; Motor drives; network-based proportional–integral (PI) control; network-induced delays; Optimization techniques; Particle swarm optimization; stochastic packet dropouts; Stochastic processes; Upper bounds; Wheels; Wireless networks
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2019.2924450

This paper focuses on the network-based modeling and proportional-integral (PI) control for a continuous-time direct-drive-wheel system in a wireless network environment. The developed system can simplify configuration, reduce bus cables, and realize vehicle height adjustment. A novel network-based model is first established by constructing a PI control system and taking network-induced delays and stochastic packet dropouts into account. By using two different artificial delays to characterize the update of proportional and integral control signals, the network-based PI control system is modeled as a stochastic impulsive system with two input delays and reset equations at updating instants. Then, through involving the reset states and the relationship among two delayed states and the current state in the discontinuous Lyapunov-Krasovskii functional and actively introducing the upper bounds of nonzero network-induced delays, some exponential mean-square stability and <inline-formula> <tex-math notation="LaTeX">H_{\infty } </tex-math></inline-formula> performance conditions with less conservatism are derived in terms of tractable linear matrix inequalities. An algorithm is presented to determine the minimum <inline-formula> <tex-math notation="LaTeX">H_{\infty } </tex-math></inline-formula> performance and the corresponding PI control parameters by combining a particle swarm optimization technique with the performance condition. These results can be extended to a network-based PI control of general continuous-time linear systems. A ZigBee-based network simulation platform is finally built and some simulation results are provided to validate the proposed methods.