New Results for Networked Control of Nonlinear Plants Subject to Transmission Delays
This paper studies networked control for nonlinear plants subject to several network-induced constraints, with a particular focus on transmission delays. In the context of general nonlinear networked control systems, a standard approach for guaranteeing stability is to construct a storage function, coupled with a single timer variable, to analyze the maximum allowable transmission interval (MATI) and maximum allowable transmission delay (MAD). In this paper, we propose a new approach that assigns each signal that is either \textit{in transit or most recently updated}, to an individual timer variable. This enables the individual characterization and compensation for the dynamics of each potential updating error. Subsequently, based on a novel construction of timer-coupled storage functions, the dynamics of these timer variables is designed and investigated, leading to less conservative conditions on the MATI and MAD than those by the standard approach while still ensuring closed-loop input-to-state stability with respect to external disturbances. Finally, simulation results are given to illustrate the advantages of these new results.