Synthesis of Wireless Networked Control System Based on Round-trip Delay Online Estimation

A control design approach with the integration of online delay estimation is proposed for wireless networked control systems (WNCSs) with unknown round-trip delay, which improves control performance in a practically feasible way. We introduce a delay probability estimation unit to obtain the delay characteristics by estimating the delay when the control system is running. We also present a piecewise approximation control strategy to take advantage of the estimation. Furthermore, the control gain is synthesized with stability guarantee. The conditions to ensure the stochastic stability of the closed-loop system are given, and the effectiveness of the proposed approach is verified numerically.