A packet-based dual-rate PID control strategy for a slow-rate sensing Networked Control System

Abstract

This paper introduces a packet-based dual-rate control strategy to face time-varying network-induced delays, packet dropouts and packet disorder in a Networked Control System. Slow-rate sensing enables to achieve energy saving and to avoid packet disorder. Fast-rate actuation makes reaching the desired control performance possible. The dual-rate PID controller is split into two parts: a slow-rate PI controller located at the remote side (with no permanent communication to the plant) and a fast-rate PD controller located at the local side. The remote side also includes a prediction stage in order to generate the packet of future, estimated slow-rate control actions. These actions are sent to the local side and converted to fast-rate ones to be used when a packet does not arrive at this side due to the network-induced delay or due to occurring dropouts. The proposed control solution is able to approximately reach the nominal (no-delay, no-dropout) performance despite the existence of time-varying delays and packet dropouts. Control system stability is ensured in terms of probabilistic Linear Matrix Inequalities (LMIs). Via real-time control for a Cartesian robot, results clearly reveal the superiority of the control solution compared to a previous proposal by authors.

Development of Novel Bioreactor Control Systems Based on Smart Sensors and Actuators

“…In precision agriculture, the NCS has been used for artificial environment stabilization of greenhouses and the control of irrigation canal systems (Lai et al, 2015;Ibrahim et al, 2018). The NCS has also been widely applied in advanced manufacturing, including the control of mechanical factories (Cuenca et al, 2018). The application of NCS-based power system stabilizers in power grids has also been reported by Zhang et al (2014).…”

Event-triggered predictor-based control with gain-Scheduling and extended state observer for networked control systems

“…Packet dropouts have been faced using predictive control [20], predictor-observer methods [5,8], gain scheduling [9], etc. Packet disordering has also been investigated in [22,23,37] by introducing different packet reordering mechanisms, and in [33,7,6] by using dual-rate control.…”

A Remote Control Strategy for an Autonomous Vehicle with Slow Sensor Using Kalman Filtering and Dual-Rate Control

“…Packet-based control [35,36] is usually employed to decrease the communication rate by simultaneously sending a set of data in each transmission. In our work, the main aim of including this technique in the control solution is two-fold:To provide the motion planning and control layers with a set of h -step-ahead path references.…”