5,770 research outputs found
Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks
Closing feedback loops fast and over long distances is key to emerging
applications; for example, robot motion control and swarm coordination require
update intervals of tens of milliseconds. Low-power wireless technology is
preferred for its low cost, small form factor, and flexibility, especially if
the devices support multi-hop communication. So far, however, feedback control
over wireless multi-hop networks has only been shown for update intervals on
the order of seconds. This paper presents a wireless embedded system that tames
imperfections impairing control performance (e.g., jitter and message loss),
and a control design that exploits the essential properties of this system to
provably guarantee closed-loop stability for physical processes with linear
time-invariant dynamics. Using experiments on a cyber-physical testbed with 20
wireless nodes and multiple cart-pole systems, we are the first to demonstrate
and evaluate feedback control and coordination over wireless multi-hop networks
for update intervals of 20 to 50 milliseconds.Comment: Accepted final version to appear in: 10th ACM/IEEE International
Conference on Cyber-Physical Systems (with CPS-IoT Week 2019) (ICCPS '19),
April 16--18, 2019, Montreal, QC, Canad
Mathematical control of complex systems
Copyright © 2013 ZidongWang et al.This is an open access article distributed under the Creative Commons Attribution License,
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
Dynamics estimation and generalized tuning of stationary frame current controller for grid-tied power converters
The integration of AC-DC power converters to manage the connection of generation to the grid has increased exponentially over the last years. PV or wind generation plants are one of the main applications showing this trend. High power converters are increasingly installed for integrating the renewables in a larger scale. The control design for these converters becomes more challenging due to the reduced control bandwidth and increased complexity in the grid connection filter. A generalized and optimized control tuning approach for converters becomes more favored. This paper proposes an algorithm for estimating the dynamic performance of the stationary frame current controllers, and based on it a generalized and optimized tuning approach is developed. The experience-based specifications of the tuning inputs are not necessary through the tuning approach. Simulation and experimental results in different scenarios are shown to evaluate the proposal.Peer ReviewedPostprint (published version
Anticipated synchronization: a metaphorical linear view
We study the regime of anticipated synchronization recently described on a
number of dynamical systems including chaotic and noisy ones. We use simple
linear caricatures to show the minimal setups able to reproduce the basic facts
described.Comment: 7 pages,5 figure
Information flow and cooperative control of vehicle formations
We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. Tools from algebraic graph theory prove useful in modeling the communication network and relating its topology to formation stability. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability. We also propose a method for decentralized information exchange between vehicles. This approach realizes a dynamical system that supplies each vehicle with a common reference to be used for cooperative motion. We prove a separation principle that decomposes formation stability into two components: Stability of this is achieved information flow for the given graph and stability of an individual vehicle for the given controller. The information flow can thus be rendered highly robust to changes in the graph, enabling tight formation control despite limitations in intervehicle communication capability
Control of a non-holonomic mobile robot system with parametric uncertainty
In this paper, the control of a mobile robot system via a feedback linearization controller and anti-control of chaos with parametric uncertainty is researched. Anti-control is also applied to convert non-chaotic systems to chaotic ones and to create chaos dynamic. The synchronization of system errors with a chaotic gyroscope system is researched for energy reduction and performance improvement. In the other words, control effort is based on synchronizing the error system with chaos for decreasing control cost. The combination of these techniques yields high efficiency and global convergence of trajectories, even in the presence of parametric uncertainty, which has been shown by simulation. Finally, the energy of control signals is calculated and compared for showing the energy reduction
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