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      • HARVEST
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      State estimation, system identification and adaptive control for networked systems

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      MScThesis_V3.pdf (1.676Mb)
      Date
      2009
      Author
      Fang, Huazhen
      Type
      Thesis
      Degree Level
      Masters
      Metadata
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      Abstract
      A networked control system (NCS) is a feedback control system that has its control loop physically connected via real-time communication networks. To meet the demands of `teleautomation', modularity, integrated diagnostics, quick maintenance and decentralization of control, NCSs have received remarkable attention worldwide during the past decade. Yet despite their distinct advantages, NCSs are suffering from network-induced constraints such as time delays and packet dropouts, which may degrade system performance. Therefore, the network-induced constraints should be incorporated into the control design and related studies. For the problem of state estimation in a network environment, we present the strategy of simultaneous input and state estimation to compensate for the effects of unknown input missing. A sub-optimal algorithm is proposed, and the stability properties are proven by analyzing the solution of a Riccati-like equation. Despite its importance, system identification in a network environment has been studied poorly before. To identify the parameters of a system in a network environment, we modify the classical Kalman filter to obtain an algorithm that is capable of handling missing output data caused by the network medium. Convergence properties of the algorithm are established under the stochastic framework. We further develop an adaptive control scheme for networked systems. By employing the proposed output estimator and parameter estimator, the designed adaptive control can track the expected signal. Rigorous convergence analysis of the scheme is performed under the stochastic framework as well.
      Degree
      Master of Science (M.Sc.)
      Department
      Mechanical Engineering
      Program
      Mechanical Engineering
      Supervisor
      Shi, Yang
      Committee
      Saadat Mehr, Aryan; Nguyen, Ha H.; Chen, X. B. (Daniel)
      Copyright Date
      2009
      URI
      http://hdl.handle.net/10388/etd-04072009-225116
      Subject
      filtering
      parameter estimation
      networked systems
      control design
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