Tsinghua Science and Technology


cyber physical system, network time delay, robust H-infinity control, linear matrix inequality


This study introduces a real-time controller design method under the effects of network time delay and external disturbance. The study first introduces the digital, virtual, intelligent trend of airplane assembly and reveals the status and problems of digital airplane assembly studies. The Cyber-Physical System (CPS) structure is then proposed for digital airplane assembly, and the real-time control issues are discussed. Then, the question of real-time control undertaken by a parallel robot is simplified to a control question with bounded time delay and complex interference, and a mathematical description is presented. Next, a robust H∞ controller with a disturbance degree of decay γ is designed according to the mathematical description. Finally, a simulation is conducted. All of the experiment results show the feasibility of the above proposed methods.


Tsinghua University Press