Perturbation and Stability of Networked Robot System with Data Dropout

To the networked robot system (NRS) that drops packets randomly, the main effect factors connecting with time delay. As delay perturbation and control period perturbation both affect control performance and stability in NRS, the problems of control delay perturbation and control period perturbation are discussed detailedly. By presenting a mathematical model based on a packet-dropped setting according to a Markov chain, we analyzed the stability of a NRS. We showed that under certain conditions there was a rate for dropped packets for which an undisturbed networked control system with imperfect state observation was mean square stable, used a sub-optimal method to simplify the calculation of the estimator and controller, got the solution to the Riccati-like equation and guaranteed the mean square stability of the NRS with perfect state information. All of these direct a feasible way to the investigation of H2/Hinfin performance and the presence of other kind of perturbations such as the sensor noise.