Abstract
When trying to stabilise a dynamical system under the assumption that every communication among the sensors, the actuators and the controller is carried out via a shared communication channel, network-induced constraints come into play. Among such constraints, we address: variable transfer intervals, time varying, large communication delays; non-simultaneous access to the network. In this paper, we devise a method for using an output-feedback dynamic controller whose design is carried out without taking into account the presence of the network. The stability of the resulting nonlinear networked control system is assessed. In order to corroborate the validity of the presented approach, the results of three experiments are presented. Each experiment is carried out using an Ethernet network as the communication medium. One of the experiments involves a real plant, while the remaining have been carried out with simulated plants.
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Notes
- 1.
The measurements include both the network-induced delays and some additional delays which have been added via software in order to simulate the effects of additional traffic. The program tc has been used on both Linux hosts to provide additional sending delays, which have a normal probability distribution of \(\mathcal {N}(15,5)\). Hence, the mean value of the added round trip time is \(30\)ms. Additional delays account for the larger portion of the overall measured delay.
- 2.
The function \(W_c(i,e_c)= \underline{a}_{c} \left\| e_c\right\| \) can be used to show this.
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Acknowledgments
The research leading to these results has received funding from the European Union Seventh Framework Programme [FP7/2007-2013] under grant agreement n257462 HYCON2 Network of excellence.
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Falasca, S., Gamba, M., Bicchi, A. (2015). Output-Feedback Dynamic Control over Packet-Switching Networks. In: Ferrier, JL., Gusikhin, O., Madani, K., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 325. Springer, Cham. https://doi.org/10.1007/978-3-319-10891-9_10
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DOI: https://doi.org/10.1007/978-3-319-10891-9_10
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