A New Delay-Compensation Scheme for Networked Control Systems in Controller Area Networks

In this work, we aim to study a new delay-compensation algorithm for networked control systems (NCSs) which are connected via the controller area network (CAN) buses. First, we analyze the property of CAN bus and find the main sources of CAN-bus-induced delays. The system controlled through a CAN bus is formulated into the typical framework of NCSs. Different from the traditional state feedback or output feedback control schemes, we propose a feedback control law with the aid of a time-domain Smith predictor. By using the augmentation technique, a closed-loop system with a delayed state is obtained. Then, the asymptotical stability property of the closed-loop system is investigated and a sufficient condition with a bilinear matrix inequality (BMI) is derived. The obtained BMI is converted into a linear matrix inequality (LMI) and the feedback gain in the proposed control law is calculated by solving the LMI condition. Finally, two application examples are given to illustrate the advantages and the effectiveness of the proposed controller design method.