Multilayered Quality-of-Service Architecture with Cross-layer Coordination for Teleoperation System

The quality of the best effort service provided by Internet protocol (IP) networks has proven to be inadequate for real-time control applications. A variety of methods have been proposed to address this issue, and most of these efforts are in the realm of control system. Based on Open System Interconnection reference model (OSI/RM), we present a multilayered network, quality-of-service (QoS) enhancement architecture for network-based teleoperation systems. The QoS architecture is composed of resource network enhancement and communication network enhancement. We classify the QoS enhancement methods as the end-to-end approach and the intermediate nodes-dependent approach accordingly. The structure covers principal layers of network architecture. We give solutions for network optimization on these layers and emphasize the optimization methods at network layer and transport layer. Simulation and experiment result verified the mechanisms deployed in these key layers. Cross-layer coordination and adaptation issues are discussed, and three schemes are proposed. For different application scenarios, we propose a lightweight structure as minimum configuration and integrated structure for Internetbased applications. The modeling process is very general and may serve as the basis for a wide range of network control systems in their performance-improving activities.