Improved Stability Analysis of Nonlinear Networked Control Systems over Multiple Communication Links

TL;DR

This paper presents an improved stability analysis method for nonlinear networked control systems with multiple communication links, accounting for delays and packet issues, using Lyapunov Krasovskii approach and LMIs.

Contribution

It introduces a novel stability condition for nonlinear NCS over multiple links, enhancing previous methods with less conservative LMI-based criteria.

Findings

The proposed method successfully stabilizes a robot arm NCS.

Results show significant improvement over previous stability criteria.

The approach effectively handles multiple communication delays and packet issues.

Abstract

In this paper, we consider a nonlinear networked control system (NCS) in which controllers, sensors and actuators are connected via several communication links. In each link, networking effects such as the transmission delay, packet loss, sampling jitter and data packet miss-ordering are captured by time-varying delays. Stability analysis is carried out based on the Lyapunov Krasovskii method to obtain a condition for stability of the nonlinear NCS in the form of linear matrix inequality (LMI). The results are applied to a two degrees of freedom robot arm NCS which shows a considerable improvement with respect to the previous works.