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Robust Tracking Control of Networked Control Systems With Communication Constraints and External Disturbance

This paper addresses the problem of robust tracking control of networked control systems with communication constraints (network-induced delay, packet dropouts, and packet disorder) and external disturbance. A novel networked predictive control algorithm based on k-order adaptive discrete-time sliding-mode control (k -ADSMC) is proposed. The ADSMC, which can self-adapting adjust sliding-mode parameters and ensure faster convergence, is designed based on the error and error difference of tracking output. Furthermore, k -ADSMC is designed, which uses the estimated disturbance as weight factors and synthesizes the sliding- mode values of all k times, in order to improve the robust of tracking control. Finally, the stability of the system is proved, and a dc motor servo system is utilized to verify the effectiveness of the proposed method.