111 research outputs found

    CoCPN - Towards Flexible and Adaptive Cyber-Physical Systems Through Cooperation

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    An LMI-Based H

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    Due to the bandwidth constraints in the networked control systems (NCSs), a deadband scheduling strategy is proposed to reduce the data transmission rate of network nodes. A discrete-time model of NCSs is established with both deadband scheduling and network-induced time-delay. By employing the Lyapunov functional and LMI approach, a state feedback H∞ controller is designed to ensure the closed-loop system asymptotically to be stable with H∞ performance index. Simulation results show that the introduced deadband scheduling strategy can ensure the control performance of the system and effectively reduce the node's data transmission rate

    Cloud-based Networked Visual Servo Control

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    Tracking control of wheeled mobile robots with communication delay and data loss

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    Scheduling of Event-Triggered Controllers on a Shared Network

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    We consider a system where a number of independent, time-triggered or event-triggered control loops are closed over a shared communication network. Each plant is described by a first-order linear stochastic system. In the event-triggered case, a sensor at each plant frequently samples the output but attempts to communicate only when the magnitude of the output is above a threshold. Once access to the network has been gained, the network is busy for T seconds (corresponding to the communication delay from sensor to actuator), after which the control action is applied to the plant. Using numerical methods, we compute the minimum-variance control performance under various common MAC-protocols, including TDMA, FDMA, and CSMA (with random, dynamic-priority, or static-priority access). The results show that event-triggered control under CSMA gives the best performance throughout
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