Distributed H2/H∞ Filtering for Hybrid Wired-wireless Networked Systems with Network-induced Delays and Packet Losses Constraints
-
摘要: 针对分布式有线无线异构网络化滤波系统中部署在不同地理空间的多传感器通过无线网络与每个局部融合中心通信, 然后测量数据被传到网关并进行协议转换后通过有线网络传输到对应的分布式滤波器, 会导致数据传输出现分布式有线无线网络诱导延时和数据丢包, 使得H2/H∞滤波更加困难的问题, 本文首先采用有向图描述分布式传感器节点的通信拓扑, 然后运用Markov链和伯努利分布分别刻画分布式有线无线网络诱导延时和数据丢包特性, 进而建立了融合分布式滤波器参数、有线无线异构网络通信约束的普适滤波误差动态系统综合模型.理论上证明了在分布式有线无线异构网络通信约束下所设计的滤波器使得滤波误差动态系统随机稳定且满足给定的H2/H∞性能指标, 并建立了系统随机稳定性、分布式滤波器参数及最长有线无线网络诱导延时和数据丢包之间的关系.最后, 仿真实例验证了本文所提方法是可行且有效.
-
关键词:
- 有线无线异构网络 /
- 网络诱导延时 /
- 数据丢包 /
- 分布式H2/H∞滤波 /
- 随机稳定
Abstract: In distributed hybrid wired-wireless networked filtering systems, distributed sensors communicate with local fusion centers through the wireless network. The measured signals from sensors are then transmitted to gateways where they are converted to the corresponding wired network format, which are further transmitted to the filters through the wired network. This might suffer from distributed network-induced delays and packet losses of hybrid wired-wireless networks, making H2/H∞ filtering more difficult. To solve these problems, directed graph is firstly used to describe the communication topology of distributed sensor nodes, and different Markov chains and Bernoulli processes are employed to describe the characters of distributed network-induced delays and packet losses of hybrid wired-wireless networks, respectively. A general filtering error dynamic system model containing distributed filtering parameters and communication constraints of hybrid wired-wireless networks is then proposed. The designed filters enable the filtering error dynamic system to be stochastically stable and to achieve a prescribed H2/H∞ performance, and the relationships among the stochastic stability criteria, distributed filter parameters, maximum network-induced delays and packet losses of hybrid wired-wireless networks are further established. Finally, simulation results confirm the feasibility and effectiveness of the proposed method. -
图 1 分布式有线无线异构网络化 ${H_2}/{H_\infty }$ 滤波示意图
Fig. 1 Distributed ${H_2}/{H_\infty }$ filtering for hybridwired-wireless networked systems
图 2 传感器到局部融合中心J的通信拓扑示意图
Fig. 2 Communication topology from sensors to local fusioncenter J
图 4 k时刻信号在有线无线异构网络的传输时序图
Fig. 4 Timing diagram of signal through hybridwired-wireless networks at the $k{\rm th}$ instant
图 5 传感器与局部融合中心通信拓扑示意图 (N=2)
Fig. 5 The communication topology from sensors to localfusion centers (N=2)
图 6 网络状态图 (值1到8分别代表模态1到模态8)
Fig. 6 Networked state (Numerical values 1 to 8 represent Mode1 to 8.)
图 7 被调输出和两个不同滤波器的估计输出
Fig. 7 The controlled output and estimated outputs of twodifferent filters
表 1 最优扰动衰减性能指标对比
Table 1 Comparison of the minimum noise attenuation level
有线无线异构网络数据丢包率 (α, β) 最优扰动衰减性能指标 (γ*) α=0.2, β=0.3 4.5911E-005 α=0.6, β=0.3 4.3237E-005 α=0.2, β=0.7 4.6150E-005 α=0.6, β=0.7 4.3381E-005 
下载: 导出CSV
表 2 不同模态下两个滤波器的 ${H_2}/{H_\infty }$ 性能指标
Table 2 The ${H_2}/{H_\infty }$ noise attenuation level underdifferent models in two filters
h1(%) h2(%) h3(%) h4(%) h5(%) h6(%) h7(%) h8(%) 滤波器1的H2/H∞性能指标 (γ) 滤波器2的H2/H∞性能指标 (γ) 18 8 10 10 18 7 11 18 5.9365E-07 5.9372E-07 17 10 8 16 15 11 9 14 5.7665E-07 5.7662E-07 17 10 8 12 13 14 11 15 5.2931E-07 5.2702E-07
下载: 导出CSV
-
[1] 游科友, 谢立华.网络控制系统的最新研究综述.自动化学报, 2013, 39(2):101-118 doi: 10.1016/S1874-1029(13)60013-0You Ke-You, Xie Li-Hua. Survey of recent progress in networked control systems. Acta Automatica Sinica, 2013, 39(2):101-118 doi: 10.1016/S1874-1029(13)60013-0 [2] 郭戈, 王宝凤.多丢包不确定离散系统的鲁棒Kalman滤波.自动化学报, 2010, 36(5):767-772 doi: 10.3724/SP.J.1004.2010.00767Guo Ge, Wang Bao-Feng. Robust Kalman filtering for uncertain discrete-time systems with multiple packet dropouts. Acta Automatica Sinica, 2010, 36(5):767-772 doi: 10.3724/SP.J.1004.2010.00767 [3] Deaecto G S, Souza M, Geromel J C. Discrete-time switched linear systems state feedback design with application to networked control. IEEE Transactions on Automatic Control, 2015, 60(3):877-881 doi: 10.1109/TAC.2014.2341131 [4] Mahmoud M S, Memon A M. Aperiodic triggering mechanisms for networked control systems. Information Sciences, 2015, 296:282-306 doi: 10.1016/j.ins.2014.11.004 [5] 杜大军, 费敏锐, 宋杨, 李雪.网络控制系统的简要回顾及展望.仪器仪表学报, 2011, 32(3):713-720 http://www.cnki.com.cn/Article/CJFDTOTAL-YQXB201103038.htmDu Da-Jun, Fei Min-Rui, Song Yang, Li Xue. Brief survey and prospect of networked control systems. Chinese Journal of Scientific Instrument, 2011, 32(3):713-720 http://www.cnki.com.cn/Article/CJFDTOTAL-YQXB201103038.htm [6] Du S L, Sun X M, Wang W. Guaranteed cost control for uncertain networked control systems with predictive scheme. IEEE Transactions on Automation Science and Engineering, 2014, 11(3):740-748 doi: 10.1109/TASE.2014.2320322 [7] Ge X H, Yang F W, Han Q L. Distributed networked control systems:a brief overview. Information Sciences, 2015, DOI:10.1016/j.ins.2015.07.047 [8] Liu A D, Zhang W A, Yu L, Liu S, Chen M Z Q. New results on stabilization of networked control systems with packet disordering. Automatica, 2015, 52:255-259 doi: 10.1016/j.automatica.2014.12.006 [9] Chen F, Feng G, Liu L, Ren W. Distributed average tracking of networked Euler-Lagrange systems. IEEE Transactions on Automatic Control, 2015, 60(2):547-552 doi: 10.1109/TAC.2014.2343111 [10] Garcia-Ligero M J, Hermoso-Carazo A, Linares-Perez J. Distributed fusion estimation in networked systems with uncertain observations and Markovian random delays. Signal Processing, 2015, 106:114-122 doi: 10.1016/j.sigpro.2014.07.003 [11] Zhao X D, Zheng X L, Ma C, Li R. Distributed consensus of multiple Euler-Lagrange systems networked by sampled-data information with transmission delays and data packet dropouts. IEEE Transactions on Automation Science and Engineering, DOI:10.1109/TASE.2015.2448934 [12] Yu H Y, Zhuang Y, Wang W. Distributed H∞ filtering in sensor networks with randomly occurred missing measurements and communication link failures. Information Sciences, 2013, 222:424-438 doi: 10.1016/j.ins.2012.07.059 [13] Li L, Xia Y Q. Unscented Kalman filter over unreliable communication networks with Markovian packet dropouts. IEEE Transactions on Automatic Control, 2013, 58(12):3224-3230 doi: 10.1109/TAC.2013.2263650 [14] 谷从, 梁彦, 张共愿, 杨峰, 潘泉.量测缺失下多速率传感器系统的H∞滤波器设计.自动化学报, 2010, 36(6):881-885 http://www.aas.net.cn/CN/abstract/abstract13673.shtmlGu Cong, Liang Yan, Zhang Gong-Yuan, Yang Feng, Pan Quan. H∞ filter for multi-rate systems with missing measurements. Acta Automatica Sinica, 2010, 36(6):881-885 http://www.aas.net.cn/CN/abstract/abstract13673.shtml [15] Zhang D, Yu L, Song H B, Wang Q G. Distributed H∞ filtering for sensor networks with switching topology. International Journal of Systems Science, 2013, 44(11):2104-2118 doi: 10.1080/00207721.2012.684903 [16] Wang H D, Wu H N. Distributed consensus observer-based H∞ control for linear systems with sensor and actuator networks. International Journal of Control, 2015, 88(4):857-871 doi: 10.1080/00207179.2014.982711 [17] Wang H J, Shi P, Zhang J H. Event-triggered fuzzy filtering for a class of nonlinear networked control systems. Signal Processing, 2015, 113:159-168 doi: 10.1016/j.sigpro.2015.01.025 [18] Zhao Y, Gao H J, Lam J. New results on H∞ filtering for fuzzy systems with interval time-varying delays. Information Sciences, 2011, 181(11):2356-2369 doi: 10.1016/j.ins.2011.01.032 [19] Zhang Z, Zhang Z X, Yang S C. Robust reduced-order L2-L∞ filtering for network-based discrete-time linear systems. Signal Processing, 2015, 109:110-118 doi: 10.1016/j.sigpro.2014.10.023 [20] Long Y, Yang G H. Fault detection filter design for stochastic networked control systems. International Journal of Robust and Nonlinear Control, 2015, 25(3):443-460 doi: 10.1002/rnc.v25.3 [21] Gao H J, Zhao Y, Lam J, Chen K. H∞ fuzzy filtering of nonlinear systems with intermittent measurements. IEEE Transactions on Fuzzy Systems, 2009, 17(2):291-300 doi: 10.1109/TFUZZ.2008.924206 [22] Rezaei H, Esfanjani R M, Sedaaghi M H. Improved robust finite-horizon Kalman filtering for uncertain networked time-varying systems. Information Sciences, 2015, 293:263-274 doi: 10.1016/j.ins.2014.09.017 [23] 薛东国, 陈博, 张文安, 俞立.通信受限下网络化多传感器系统的Kalman融合估计.自动化学报, 2015, 41(1):203-208 http://www.aas.net.cn/CN/abstract/abstract18599.shtmlXue Dong-Guo, Chen Bo, Zhang Wen-An, Yu Li. Kalman fusion estimation for networked multi-sensor fusion systems with communication constraints. Acta Automatica Sinica, 2015, 41(1):203-208 http://www.aas.net.cn/CN/abstract/abstract18599.shtml [24] Song E B, Xu J, Zhu Y M. Optimal distributed Kalman filtering fusion with singular covariances of filtering errors and measurement noises. IEEE Transactions on Automatic Control, 2014, 59(5):1271-1282 doi: 10.1109/TAC.2014.2308451 [25] Li W L, Jia Y M, Du J P, Zhang J. Distributed consensus filtering for jump Markov linear systems. IET Control Theory and Applications, 2013, 7(12):1659-1664 doi: 10.1049/iet-cta.2012.0742 [26] Li D, Kar S, Moura J M F, Poor H V, Cui S G. Distributed Kalman filtering over massive data sets:analysis through large deviations of random Riccati equations. IEEE Transactions on Information Theory, 2015, 61(3):1351-1372 doi: 10.1109/TIT.2015.2389221 [27] Chen B, Zhang W A, Yu L. Distributed finite-horizon fusion Kalman filtering for bandwidth and energy constrained wireless sensor networks. IEEE Transactions on Signal Processing, 2014, 62(4):797-812 doi: 10.1109/TSP.2013.2294603 [28] Ding D R, Wang Z D, Dong H L, Shu H S. Distributed H∞ state estimation with stochastic parameters and nonlinearities through sensor networks:the finite-horizon case. Automatica, 2012, 48(8):1575-1585 doi: 10.1016/j.automatica.2012.05.070 [29] Shen B, Wang Z D, Hung Y S. Distributed H∞-consensus filtering in sensor networks with multiple missing measurements:the finite-horizon case. Automatica, 2010, 46(10):1682-1688 doi: 10.1016/j.automatica.2010.06.025 [30] Ugrinovskii V. Distributed robust filtering with H∞ consensus of estimates. Automatica, 2011, 47(1):1-13 doi: 10.1016/j.automatica.2010.10.002 [31] Ge X H, Han Q L, Jiang X F. Distributed H∞ filtering over sensor networks with heterogeneous Markovian coupling intercommunication delays. IET Control Theory and Applications, 2015, 9(1):82-90 doi: 10.1049/iet-cta.2014.0006 [32] Ge X H, Han Q L. Distributed event-triggered H∞ filtering over sensor networks with communication delays. Information Sciences, 2015, 291:128-142 doi: 10.1016/j.ins.2014.08.047 [33] Dong H L, Wang Z D, Gao H J. Distributed filtering for a class of time-varying systems over sensor networks with quantization errors and successive packet dropouts. IEEE Transactions on Signal Processing, 2012, 60(6):3164-3173 doi: 10.1109/TSP.2012.2190599 [34] Song Y, Wei G L, Yang G S. Distributed H∞ filtering for a class of sensor networks with uncertain rates of packet losses. Signal Processing, 2014, 104:143-151 doi: 10.1016/j.sigpro.2014.04.005 [35] Zhang D, Wang Q G, Yu L, Shao Q K. H∞ filtering for networked systems with multiple time-varying transmissions and random packet dropouts. IEEE Transactions on Industrial Informatics, 2013, 9(3):1705-1716 doi: 10.1109/TII.2012.2232674 [36] Cena G, Valenzano A, Vitturi S. Hybrid wired/wireless networks for real-time communications. IEEE Industrial Electronics Magazine, 2008, 2(1):8-20 doi: 10.1109/MIE.2008.917155 [37] Koulamas C, Koubias S, Papadopoulos G. Using cut-through forwarding to retain the real-time properties of profibus over hybrid wired/wireless architectures. IEEE Transactions on Industrial Electronics, 2004, 51(6):1208-1217 doi: 10.1109/TIE.2004.839429 [38] Mirabella O, Brischetto M. A hybrid wired/wireless networking infrastructure for greenhouse management. IEEE Transactions on Instrumentation and measurement, 2011, 60(2):398-407 doi: 10.1109/TIM.2010.2084250 [39] Salehin K M, Rojas-Cessa R. Active scheme to measure throughput of wireless access link in hybrid wired-wireless network. IEEE Wireless Communications Letters, 2012, 1(6):645-648 doi: 10.1109/LWC.5962382 [40] Du D J, Qi B, Fei M R, Peng C. Multiple event-triggered H2/H∞ filtering for hybrid wired-wireless networked systems with random network-induced delays. Information Sciences, 2015, 325:393-408 doi: 10.1016/j.ins.2015.07.026 [41] 杜大军, 宋志华, 费敏锐, 王海宽.受一类多通道异构网络通信约束的网络系统H2/H∞滤波研究.自动化学报, 2014, 40(11):2664-2672 http://www.aas.net.cn/CN/abstract/abstract18545.shtmlDu Da-Jun, Song Zhi-Hua, Fei Min-Rui, Wang Hai-Kuan. H2/H∞ filtering for networked systems with a kind of multi-channel hybrid network communication constraints. Acta Automatica Sinica, 2014, 40(11):2664-2672 http://www.aas.net.cn/CN/abstract/abstract18545.shtml [42] Bemporad A, Heemels M, Vejdemo-Johansson M. Networked control systems. Lecture Notes in Control and Information Sciences. Berlin Heidelberg:Springer-Verlag, 2010. [43] Park P, Di Marco P, Fischione C, Johansson K H. Modeling and optimization of the IEEE 802. 15. 4 protocol for reliable and timely communications. IEEE Transactions on Parallel and Distributed Systems, 2013, 24(3):550-564 doi: 10.1109/TPDS.2012.159 [44] Shi Y, Yu B. Output feedback stabilization of networked control systems with random delays modeled by Markov chains. IEEE Transactions on Automatic Control, 2009, 54(7):1668-1674 doi: 10.1109/TAC.2009.2020638 [45] Peng C, Fei M R, Tian E G, Guan Y P. On hold or drop out-of-order packets in networked control systems. Information Sciences, 2014, 268:436-446 doi: 10.1016/j.ins.2013.08.003 [46] Hu S L, Yue D, Liu J L. H∞ filtering for networked systems with partly known distribution transmission delays. Information Sciences, 2012, 194:270-282 doi: 10.1016/j.ins.2011.12.026 [47] Meng X Y, Chen T W. Event triggered robust filter design for discrete-time systems. IET Control Theory and Applications, 2014, 8(2):104-113 doi: 10.1049/iet-cta.2013.0541 -
图(8) / 表(2)
计量
- 文章访问数: 2151
- HTML全文浏览量: 218
- PDF下载量: 1209
- 被引次数: 0
