Observer-based H∞ control for systems with repeated scalar nonlinearities and multiple packet losses

This paper is concerned with the H∞ control problem for a class of systems with repeated scalar nonlinearities and multiple missing measurements. The nonlinear system is described by a discrete-time state equation involving a repeated scalar nonlinearity, which typically appears in recurrent neural networks. The measurement missing phenomenon is assumed to occur, simultaneously, in the communication channels from the sensor to the controller and from the controller to the actuator, where the missing probability for each sensor/actuator is governed by an individual random variable satisfying a certain probabilistic distribution in the interval [0 1]. Attention is focused on the analysis and design of an observer-based feedback controller such that the closed-loop control system is stochastically stable and preserves a guaranteed H∞ performance. Sufficient conditions are obtained for the existence of admissible controllers. It is shown that the controller design problem under consideration is solvable if certain linear matrix inequalities (LMIs) are feasible. Three examples are provided to illustrate the effectiveness of the developed theoretical result

Optimal LQG Control Across a Packet-Dropping Link

We examine optimal Linear Quadratic Gaussian control for a system in which communication between the sensor (output of the plant) and the controller occurs across a packet-dropping link. We extend the familiar LQG separation principle to this problem that allows us to solve this problem using a standard LQR state-feedback design, along with an optimal algorithm for propagating and using the information across the unreliable link. We present one such optimal algorithm, which consists of a Kalman Filter at the sensor side of the link, and a switched linear filter at the controller side. Our design does not assume any statistical model of the packet drop events, and is thus optimal for an arbitrary packet drop pattern. Further, the solution is appealing from a practical point of view because it can be implemented as a small modification of an existing LQG control design

Design and implementation of event-based multi-rate controllers for networked control systems

Tesis por compendio[ES] Con esta tesis se pretende dar solución a algunos de los problemas más habituales que aparecen en los Sistemas de control basados en red (NCS) como son los retardos variables en el tiempo, las pérdidas y el desorden de paquetes, y la restricción de ancho de banda y de recursos computacionales y energéticos de los dispositivos que forman parte del sistema de control. Para ello se ha planteado la integración de técnicas de control multifrecuencial, de control basado en paquetes, de control basado en predictor y de control basado en eventos. Los diseños de control realizados se han simulado utilizando Matlab-Simulink y Truetime, se ha analizado su estabilidad mediante LMIs y QFT, y se han validado experimentalmente en un péndulo invertido, un robot cartesiano 3D y en robots móviles de bajo coste. El artículo 1 aborda el control basado en eventos, el cual minimiza el ancho de banda consumido en el NCS mediante un control basado en eventos periódicos y presenta un método para obtener sus parámetros óptimos para el sistema específico en que se utilice. Los artículos 2, 4 y 6 añaden el control basado en paquetes, así como el control multifrecuencia, que aborda problemas de falta de datos por bajo uso del sensor y los retardos, pérdidas y desórdenes de paquetes en la red. También afrontan, mediante tecnicas de predicción basadas en un filtro de Kalman multifrecuencia variable en el tiempo, los problemas de ruido y perturbaciones, así como la observación de los estados completos del sistema. El artículo 7 hace frente a un modelo no lineal que utiliza las anteriores soluciones junto con un filtro de Kalman extendido para presentar otro tipo de estructura para un vehículo autónomo que, gracias a la información futura obtenida mediante estas técnicas, puede realizar de forma remota tareas de alto nivel como es la toma de decisiones y la monitorización de variables. Los artículos 3 y 5, presentan una forma de obtener y analizar la respuesta en frecuencia de sistemas SISO multifrecuencia y estudian su comportamiento ante ciertas incertidumbres o problemas en la red haciendo uso de procedimientos QFT.[CA] Amb aquesta tesi es pretén donar solució a alguns dels problemes més habituals que apareixen als Sistemes de Control Basats en xarxa (NCS) com son els retards d'accés i transferència variables en el temps, les pèrdues y desordenament de paquets, i la restricció d'ampli de banda així com de recursos computacionals i energètics dels dispositius que foment part del sistema de control. Per tal de resoldre'ls s'ha plantejat la integració de tècniques de control multifreqüencial, de control basat en paquets, de control basat en predictor i de control basat en events. Els dissenys de control realitzats s'han simulat fent ús de Matlab-Simulink i de TrueTime, s'ha analitzat la seua estabilitat mitjançant LMIs i QFT, i s'han validat experimentalment en un pèndul invertit, un robot cartesià 3D i en robots mòbils de baix cost. L'article 1 aborda el control basat en events, el qual minimitza l'ampli de banda consumit a l'NCS mitjançant un control basat en events periòdics i presenta un mètode per a obtindré els seus paràmetres òptims per al sistema específic en el qual s'utilitza. Els articles 2, 4 i 6 afegeixen el control basat en paquets, així com el control multifreqüència, que aborda problemes de falta de dades per el baix us del sensor i els retards, pèrdues i desordre de paquets en la xarxa. També afronten, mitjançant tècniques de predicció basades en un filtre de Kalman multifreqüència variable en el temps. Els problemes de soroll i pertorbacions, així com la observació dels estats complets del sistema. L'article 7 fa referència a un model no lineal que utilitza les anteriors solucions junt a un filtre de Kalman estès per a presentar altre tipus d'estructura per a un vehicle autònom que, gracies a la informació futura obtinguda mitjançant aquestes tècniques, pot realitzar de manera remota tasques d'alt nivell com son la presa de decisions i la monitorització de variables. Els articles 3 y 5 presenten la manera d'obtindre i analitzar la resposta en frequencia de sistemes SISO multifreqüència i estudien el seu comportament front a certes incerteses o problemes en la xarxa fent us de procediments QFT.[EN] This thesis attempts to solve some of the most frequent issues that appear in Networked Control Systems (NCS), such as time-varying delays, packet losses and packet disorders and the bandwidth limitation. Other frequent problems are scarce computational and energy resources of the local system devices. Thus, it is proposed to integrate multirate control, packet-based control, predictor-based control and event-based control techniques. The control designs have been simulated using Matlab-Simulink and Truetime, the stability has been analysed by LMIs and QFT, and the experimental validation has been done on an inverted pendulum, a 3D cartesian robot and in low-cost mobile robots. Paper 1 addresses event-based control, which minimizes the bandwidth consumed in NCS through a periodic event-triggered control and presents a method to obtain the optimal parameters for the specific system used. Papers 2, 4 and 6 include packet-based control and multirate control, addressing problems such as network delays, packet dropouts and packet disorders, and the scarce data due to low sensor usage in order to save battery in sensing tasks and transmissions of the sensed data. Also addressed, is how despite the existence of measurement noise and disturbances, time-varying dual-rate Kalman filter based prediction techniques observe the complete state of the system. Paper 7 tackles a non-linear model that uses all the previous solutions together with an extended Kalman filter to present another type of structure for an autonomous vehicle that, due to future information obtained through these techniques, can remotely carry out high level tasks, such as decision making and monitoring of variables. Papers 3 and 5, present a method for obtaining and analyzing the SISO dual-rate frequency response and using QFT procedures to study its behavior when faced with specific uncertainties or network problems.This work was supported by the Spanish Ministerio de Economía y Competitividad under Grant referenced TEC2012-31506.Alcaina Acosta, JJ. (2020). Design and implementation of event-based multi-rate controllers for networked control systems [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/159884TESISCompendi

Networked Control Systems: The Communication Basics and Control Methodologies

As an emerging research field, networked control systems have shown the increasing importance and attracted more and more attention in the recent years. The integration of control and communication in networked control systems has made the design and analysis of such systems a great theoretical challenge for conventional control theory. Such an integration also makes the implementation of networked control systems a necessary intermediate step towards the final convergence of control, communication, and computation. We here introduce the basics of networked control systems and then describe the state-of-the-art research in this field. We hope such a brief tutorial can be useful to inspire further development of networked control systems in both theory and potential applications