针对具有随机时延的网络控制系统，提出一种自适应预测控制方法. 利用Elman神经网络对网络控制系统的随机时延进行在线预测，然后采用一种增加微分作用的改进隐式广义预测控制方法对网络时延进行补偿，实现了随机时延网络控制系统的自适应预测控制. 仿真结果表明，该方法对网络随机时延有很好的补偿效果，可明显改善系统输出性能，保证控制的稳定性与快速性.
This paper proposes an adaptive predictive control method for networked control systems with random time-delay. By using the Elman neural network, online prediction of the random time-delay of network is realized. Compensation of time-delay is done using an improved implicit generalized predictive control
algorithm with derivative functions. Finally, adaptive predictive control for the networked control system with random time-delay is achieved. Simulation results show that the method has a good compensation effect. It can improve the system output performance and ensure stability and rapidity.
[1] 时维国，邵诚，孙正阳. 基于AR模型时延预测的改进GPC网络控制算法[J]. 控制与决策，2012, 27(3): 470- 473.
SHI Weiguo, SHAO Cheng, SUN Zhengyang. Improved GPC network-control algorithm based on AR model time-delay predication [J]. Control and Decision, 2012, 27(3): 470-473. (in Chinese)
[2] 付伟，杨先一，冯伟，刘国权. 网络控制系统时延的预测控制补偿方法[J]. 系统工程与电子技术，2011,33(9): 2066-2071.
FU Wei, YANG Xianyi, FENG Wei, LIU Guoquan. Predictive control compensation for time delay in networked control systems [J]. Systems Engineering and Electronics, 2011, 33(9): 2066-2071. (in Chinese)
[3] 唐斌，章云，刘国平，桂卫华. 基于状态空间模型的网络化广义预测控制 [J]. 控制与决策，2010, 25(4): 535-541.
TANG Bin, ZHANG Yun, LIU Guoping, GUI Weihua. Networked generalized predictive control based on state-space model [J]. Control and Decision, 2010,25(4): 535-541.(in Chinese)
[4] 于晓明，蒋静坪. 基于神经网络延时预测的自适应网络控制系统 [J]. 浙江大学学报：工学版，2012,46(2): 194-198.
YU Xiaoming, JIANG Jingping. Adaptive networked control system based on delay prediction using neural network [J]. Journal of Zhejiang University: Engineering Science, 2012, 46 (2): 194-198. (in Chinese)
[5] XIONG N X, LI H Y, KIM T H. An approach on adaptive time-delay estimate and compensation control in internet-based control systems [C]//International Conference on Future Generation Communication and Networking, 2008: 116-121.
[6] LI H, XIONG N, PARK J H, CAO Q. Predictive control for vehicular sensor networks based on round-trip time-delay prediction [J]. IET Communications, 2010, 4 (7): 801-809.
[7] YIN Y, XIA L, SONG L Z, QIAN W. Adaptive sliding mode control of networked systems with variable time delay [J]. Lecture Notes in Electric Engineering, 2011, 3: 131-138.
[8] CHAI S C, LIU G P, REES D, XIA Y Q. Design and practical implementation of internet-based predictive control of a servo system [J]. IEEE Transactions on Control Systems Technology, 2008, 16 (1):158-168.
[9] TANG B, LIU G P, GUI W H, WANG Y L. State-space model based generalized predictive control for networked control systems [C]//17th IFAC World Congress, 2008: 13001-13006.
[10] TU X M, SONG Y, FEI M R. Internet time-delay prediction based on unbiased grey model [C]// Proceedings of the 9th World Congress on Intelligent Control and Automation, 2011: 860-864.
[11] HUA J W, LIANG T, SUN H X, LEI Z M. Time-delay compensation control of networked control systems using timestamp base state prediction [C] // International Colloquium on Computing, Communication, Control, and Management (CCCM), 2008: 198-202.
[12] 张齐，许志坚，赵坤荣. 基于Elman神经网络的污染源数据预测 [J]. 华南理工大学学报：自然科学版，2009, 37(5): 135-138.
ZHANG Qi, XU Zhijian, ZHAO Kunrong. Prediction of data from pollution sources based on Elman neural network [J]. Journal of South China University of Technology: Natural Science Edition, 2009, 37(5): 135- 138. (in Chinese)
[13] 李玉清，方华京，朱菲. 随机时延网络化控制系统的自适应预测控制 [J]. 华中科技大学学报：自然科学版，2009,37(1): 292-296.
LI Yuqing, FANG Huajing, ZHU Fei. Adaptive predictived control of networked control system with random delays [J]. Journal of Huazhong University of Science & Technology: Natural Science Edition, 2009, 37(1): 292-296. (in Chinese)
[14] 李春茂. 网络化控制系统自适应预测控制方法研究[D]. 西南交通大学，2007.
LI Chunmao. Research on adaptive predictive control of networked control systems [D]. Southwest Jiaotong University, 2007. (in Chinese)
[15] 张洪波. 改进的隐式GPC控制器在温度控制中的研究与应用 [D] . 山东大学，2009.
ZHANG HongBo. Paractical research and application of improved implicit GPC controller in temperature control system [D]. Jinan: Shandong University, 2009. (in Chinese)
