Decentralized Predictor Stabilization for Interconnected Networked Control Systems with Large Uncertain Delays and Event-Triggered Input

Abstract

In this article, we propose a control scheme with predictors in a decentralized manner for coupled networked control systems (NCSs) under uncertain, large time-delays and event-triggered inputs. The network-induced delays are handled via the prediction; thus, the delay value is allowed to be large, and the burden of the network is relieved by the event-triggered input. Two methods are employed to deal with the large delay issue: the state and output feedback. When the state of each subsystem is measurable, full-state feedback is used, whereas when the plant state cannot be measured, output feedback is employed with the help of an observer, which is more common in practice. Instead of treating the interactive plants like a global system, the exponential stability of the coupled systems, under decentralized predictors with asynchronous sampled-data feedback, is analyzed in a decentralized way. Finally, the proposed methods are verified via an example of three interconnected cart–pendulum systems, while such systems would not be stabilizable by the traditional approach when the network-induced delays are relatively large.