8,708 research outputs found
Teleoperation of passivity-based model reference robust control over the internet
This dissertation offers a survey of a known theoretical approach and novel experimental results in establishing a live communication medium through the internet to host a virtual communication environment for use in Passivity-Based Model Reference Robust Control systems with delays. The controller which is used as a carrier to support a robust communication between input-to-state stability is designed as a control strategy that passively compensates for position errors that arise during contact tasks and strives to achieve delay-independent stability for controlling of aircrafts or other mobile objects. Furthermore the controller is used for nonlinear systems, coordination of multiple agents, bilateral teleoperation, and collision avoidance thus maintaining a communication link with an upper bound of constant delay is crucial for robustness and stability of the overall system. For utilizing such framework an elucidation can be formulated by preparing site survey for analyzing not only the geographical distances separating the nodes in which the teleoperation will occur but also the communication parameters that define the virtual topography that the data will travel through. This survey will first define the feasibility of the overall operation since the teleoperation will be used to sustain a delay based controller over the internet thus obtaining a hypothetical upper bound for the delay via site survey is crucial not only for the communication system but also the delay is required for the design of the passivity-based model reference robust control. Following delay calculation and measurement via site survey, bandwidth tests for unidirectional and bidirectional communication is inspected to ensure that the speed is viable to maintain a real-time connection. Furthermore from obtaining the results it becomes crucial to measure the consistency of the delay throughout a sampled period to guarantee that the upper bound is not breached at any point within the communication to jeopardize the robustness of the controller. Following delay analysis a geographical and topological overview of the communication is also briefly examined via a trace-route to understand the underlying nodes and their contribution to the delay and round-trip consistency. To accommodate the communication channel for the controller the input and output data from both nodes need to be encapsulated within a transmission control protocol via a multithreaded design of a robust program within the C language. The program will construct a multithreaded client-server relationship in which the control data is transmitted. For added stability and higher level of security the channel is then encapsulated via an internet protocol security by utilizing a protocol suite for protecting the communication by authentication and encrypting each packet of the session using negotiation of cryptographic keys during each session
Networked PID control design : a pseudo-probabilistic robust approach
Networked Control Systems (NCS) are feedback/feed-forward control systems where control components (sensors, actuators and controllers) are distributed across a common communication network. In NCS, there exist network-induced random delays in each channel. This paper proposes a method to compensate the effects of these delays for the design and tuning of PID controllers. The control design is formulated as a constrained optimization problem and the controller stability and robustness criteria are incorporated as design constraints. The design is based on a polytopic description of the system using a Poisson pdf distribution of the delay. Simulation results are presented to demonstrate the performance of the proposed method
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A genetic algorithm for the design of a fuzzy controller for active queue management
Active queue management (AQM) policies are those
policies of router queue management that allow for the detection of network congestion, the notification of such occurrences to the
hosts on the network borders, and the adoption of a suitable control
policy. This paper proposes the adoption of a fuzzy proportional
integral (FPI) controller as an active queue manager for Internet
routers. The analytical design of the proposed FPI controller is
carried out in analogy with a proportional integral (PI) controller,
which recently has been proposed for AQM. A genetic algorithm is
proposed for tuning of the FPI controller parameters with respect
to optimal disturbance rejection. In the paper the FPI controller
design metodology is described and the results of the comparison
with random early detection (RED), tail drop, and PI controller
are presented
Distributed Rate Allocation Policies for Multi-Homed Video Streaming over Heterogeneous Access Networks
We consider the problem of rate allocation among multiple simultaneous video
streams sharing multiple heterogeneous access networks. We develop and evaluate
an analytical framework for optimal rate allocation based on observed available
bit rate (ABR) and round-trip time (RTT) over each access network and video
distortion-rate (DR) characteristics. The rate allocation is formulated as a
convex optimization problem that minimizes the total expected distortion of all
video streams. We present a distributed approximation of its solution and
compare its performance against H-infinity optimal control and two heuristic
schemes based on TCP-style additive-increase-multiplicative decrease (AIMD)
principles. The various rate allocation schemes are evaluated in simulations of
multiple high-definition (HD) video streams sharing multiple access networks.
Our results demonstrate that, in comparison with heuristic AIMD-based schemes,
both media-aware allocation and H-infinity optimal control benefit from
proactive congestion avoidance and reduce the average packet loss rate from 45%
to below 2%. Improvement in average received video quality ranges between 1.5
to 10.7 dB in PSNR for various background traffic loads and video playout
deadlines. Media-aware allocation further exploits its knowledge of the video
DR characteristics to achieve a more balanced video quality among all streams.Comment: 12 pages, 22 figure
Network emulation focusing on QoS-Oriented satellite communication
This chapter proposes network emulation basics and a complete case study of QoS-oriented Satellite Communication
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