Embedded Network Test-Bed for Validating Real-Time Control Algorithms to Ensure Optimal Time Domain Performance

The paper presents a Stateflow based network test-bed to validate real-time optimal control algorithms. Genetic Algorithm (GA) based time domain performance index minimization is attempted for tuning of PI controller to handle a balanced lag and delay type First Order Plus Time Delay (FOPTD) process over network. The tuning performance is validated on a real-time communication network with artificially simulated stochastic delay, packet loss and out-of order packets characterizing the network.Comment: 6 pages, 12 figure

Adaptive robust control for networked strict-feedback nonlinear systems with state and input quantization

Funding Information: Funding: This work was supported in part by the National Natural Science Foundation of China under Grant 62022031, Grant 61773135, Grant U20A20188; and in part by the Fundamental Research Funds for the Central Universities. Publisher Copyright: © 2021 by the authors. Licensee MDPI, Basel, Switzerland.Backstepping method is a successful approach to deal with the systems in strict-feedback form. However, for networked control systems, the discontinuous virtual law caused by state quantization introduces huge challenges for its applicability. In this article, a quantized adaptive robust control approach in backsetpping framework is developed in this article for networked strict-feedback nonlinear systems with both state and input quantization. In order to prove the efficiency of the designed control scheme, a novel form of Lyapunov candidate function was constructed in the process of analyzing the stability, which is applicable for the systems with nondifferentiable virtual control law. In particular, the state and input quantizers can be in any form as long as they meet the sector-bound condition. The theoretic result shows that the tracking error is determined by the pregiven constants and quantization errors, which are also verified by the simulation results.publishersversionpublishe

H

Compensation scheme-based H∞ control is investigated for networked control systems with packet disordering and packet loss. Since the existence of packet disordering and packet loss inevitably degrades the control performance of networked control systems, it is worth studying a control scheme to compensate for them, such that the control performance can be improved. Thus, a compensation control strategy is first proposed following this direction. Next, a mathematical model of networked control systems with Markovian property is constructed due to the signals executed by the plant subject to Markovian chain. Based on it, a sufficient condition for stochastic stability of networked control systems with uncertain parameters as well as compensation strategy is presented, and an adaptive controller is designed based on linear matrix inequality (LMI) technique. Finally, a numerical example and simulations are given to illustrate the effectiveness of the proposed method

Self-triggered Linear Quadratic Networked Control

This paper deals with networked control systems design, under the constraint of limited bandwidth on the communication channel. A linear quadratic problem for a fixed sampling period is solved, and this result is used for the development of H2 and H∞ performance indexes, yielding to the statement and solution of H2 and H∞ optimal control problems. Finally, a self-triggered controller is designed with a switched system approach in order to improve performance. Several examples are presented in order to illustrate the validity of the developed theory.355524538Wang, F.Y., Liu, D., (2008) Networked Control Systems: Theory and Applications, , Springer-Verlag: LondonHespanha, J.P., Naghshtabrizi, P., Xu, Y., A survey of recent results in networked control systems (2007) Proceedings of the IEEE - Special Issue on Technology of Networked Control Systems, 95, pp. 138-162Hespanha, J.P., Ortega, A., Vasudevan, L., Towards the control of linear systems with minimum bit-rate (2002) Proceedings of the International Symposium on the Mathematical Theory of Networks and Systems, , Notre Dame, Indiana, AugustMontestruque, L.A., Antsaklis, P.J., On the model-based control of networked systems (2003) Automatica, 39, pp. 1837-1843Yue, D., Han, Q.-L., Peng, C., State feedback controller design of networked control systems (2004) IEEE Transactions on Circuits and Systems. II: Express Briefs, 51, pp. 640-644Zhao, Y.-B., Liu, G.-P., Rees, D., Actively compensating for data packet disorder in networked control systems (2010) IEEE Transactions on Circuits and Systems. II: Express Briefs, 57, pp. 913-917Branicky, M.S., Phillips, S.M., Zhang, W., Stability of networked control systems: Explicit analysis of delay (2000) Proceedings of the 2000 American Control Conference, 4, pp. 2352-2357. , Chicago, Illinois, JuneZhang, W., Branicky, M.S., Phillips, S.M., Stability of networked control systems (2001) IEEE Control Systems Magazine, 21, pp. 84-99Matveev, A.S., Savkin, A.V., (2009) Estimation and Control over Communication Networks, , Birkhäuser: BostonChen, T., Francis, B.A., (1995) Optimal Sampled-Data Control Systems, Communication and Control Engineering Series, , Springer-Verlag: LondonRotstein, L., Mirkin, H.P., Palmor, Z.J., H2 and H∞ design of sampled-data systems using lifting. Part I: General framework and solutions (1999) SIAM Journal on Control and Optimization, 38, pp. 175-196Voulgaris, P.G., Bamieh, B., Optimal H∞ and H2 control of hybrid multirate systems (1993) Systems & Control Letters, 20, pp. 249-261Almeida, J., Silvestre, C., Pascoal, A., Self-triggered observer based control of linear plants (2011) Proceedings of the 18th IFAC World Congress, pp. 10074-10079. , Milan, Italy, SeptemberMazo, M., Jr., Anta, A., Tabuada, P., On self-triggered control for linear systems: Guarantees and complexity (2009) European Control Conference, , Budapest, Hungary, AugustMazo, M., Jr., Tabuada, P., On event-triggered and self-triggered control over sensor/actuator networks (2008) Proceedings of the 47th IEEE Conference on Decision and Control, pp. 435-440. , Cancun, Mexico, DecemberTabuada, P., Event-triggered real-time scheduling of stabilizing control tasks (2007) IEEE Transactions on Automatic Control, 52, pp. 1680-1685Geromel, J.C., Colaneri, P., Stability and stabilization of discrete-time switched systems (2006) International Journal of Control, 79, pp. 719-728Zhou, K., Doyle, J.C., (1998) Essentials of Robust Control, , Prentice Hall: Upper Saddle RiverSeron, M.M., Braslavsky, J.H., Goodwin, G.C., (1997) Fundamental Limitations in Filtering and Control, , Springer-Verlag: LondonBoyd, S., Ghaoui, L.E., Feron, E., Balakrishnan, V., (1994) Linear Matrix Inequalities in System and Control Theory, , SIAM Studies in Applied Mathematics: PhiladelphiaGeromel, J.C., Colaneri, P., Bolzern, P., Dynamic output feedback control of switched linear systems (2008) IEEE Transactions on Automatic Control, 53, pp. 720-733Fletcher, R., (2001) Practical Methods of Optimization, , John Wiley & Sons: New YorkDeaecto, G.S., Geromel, J.C., Daafouz, J., Dynamic output feedback H∞ control of switched linear systems (2011) Automatica (Oxford), 47, pp. 1713-1720Geromel, J.C., De Oliveira, M.C., H2 and H∞ robust filtering for convex bounded uncertain systems (2001) IEEE Transactions on Automatic Control, 46, pp. 100-10