{"title":"Passivity-based trajectory tracking control with adaptive sampling over a wireless network","authors":"E. Eyisi, X. Koutsoukos, N. Kottenstette","doi":"10.1109/ISRCS.2012.6309306","DOIUrl":null,"url":null,"abstract":"Uncertainty in wireless networks, such as time-varying delays and packet loss, often leads to instability and degraded performance in Networked Control Systems (NCS). Further, limited network resources impose constraints on communication between plants and controllers. In this paper, we use passivity combined with adaptive sampling to design a control architecture for trajectory tracking. The proposed architecture can tolerate time-varying delays and packet loss while efficiently utilizing network bandwidth. We provide analytical results to show passivity of the proposed networked control architecture and trajectory tracking. We demonstrate our approach using a case study on the trajectory tracking control of a robotic manipulator over a wireless network. The simulation results show the efficient utilization of network resources as well as robustness to network uncertainties.","PeriodicalId":227062,"journal":{"name":"2012 5th International Symposium on Resilient Control Systems","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2012-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 5th International Symposium on Resilient Control Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISRCS.2012.6309306","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
Uncertainty in wireless networks, such as time-varying delays and packet loss, often leads to instability and degraded performance in Networked Control Systems (NCS). Further, limited network resources impose constraints on communication between plants and controllers. In this paper, we use passivity combined with adaptive sampling to design a control architecture for trajectory tracking. The proposed architecture can tolerate time-varying delays and packet loss while efficiently utilizing network bandwidth. We provide analytical results to show passivity of the proposed networked control architecture and trajectory tracking. We demonstrate our approach using a case study on the trajectory tracking control of a robotic manipulator over a wireless network. The simulation results show the efficient utilization of network resources as well as robustness to network uncertainties.