Guaranteed Cost Control of Uncertain Networked Control Systems with a Hybrid Communication Scheme

This paper proposes a guaranteed cost control method for uncertain networked control systems with a hybrid communication scheme. First, a hybrid communication scheme including time-triggered control and periodic event-triggered control (ETC) is presented for the system under consideration. The major features of the proposed scheme include three aspects: 1) instead of a fixed switching process, the switching between two triggering methods is stochastic satisfying Bernoulli distribution; 2) the condition of ETC utilizes a more recently transmission data packet, which results in reducing the transmission frequency of sampled data than some existing ones; and 3) Zeno phenomenon can be excluded since the minimum interevent time is implicity denoted by the sampling period. Second, the closed-loop system subject to the hybrid communication scheme and network-induced delay is modeled as an uncertain stochastic system with an interval time-varying delay. Two theorems are presented for the robustly mean-square stability and guaranteed cost controller design of the derived system. Then, a minimization problem is proposed to optimize the upper bound of cost function, in which the trigger parameters and feedback gain can be designed simultaneously. Finally, the effectiveness of the proposed method is demonstrated through a practical inverted pendulum on a cart.