Modified Tracking Performance of NCSs Over Erasure Channel and Its Applications in Vehicle Control

The data communication among sensors, actuators, and controllers in network systems poses various challenges, including packet loss, network-induced delay, and channel noise interference, all of which adversely affect performance of control systems. Based on single-degree-of-freedom (SDOF) controller and two-degree-of-freedom (TDOF) controller, respectively, this article discuss networked control systems (NCSs) with packet loss, network-induced delay, and logarithmic quantization constraints in the communication channel, and proposes a discrete-time modified performance index. By the frequency domain analysis methods and Youla parameterization techniques of controllers, explicit expressions of the modified performance limitations are derived, which quantitatively reveal the impact of the fundamental characteristics of the plant and communication constraints on systems' performance. In addition, a linear dual-freedom vehicle system is modeled and the obtained theorems are applied to verify the correctness of the results. The results show that communication constraints have an adverse impacts on systems' performance, and modified performance index can better measure systems' performance.