Aperiodic Linear Networked Control Considering Variable Channel Delays: Application to Robots Coordination

Santos, Carlos; Espinosa, Felipe; Santiso, Enrique; Mazo, Manuel

doi:10.3390/s150612454

Cited by 14 publications

(9 citation statements)

References 30 publications

(47 reference statements)

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“…Another application is on robots coordination as in [49]. The authors use a self-triggered control approach to remotely regulate the linear and angular velocity of four robots.…”

Section: Applications Of Event-based Controlmentioning

confidence: 99%

Event-based control as a cloud service

Abdelaal

Hegazy

Hefeeda

2017

2017 American Control Conference (ACC)

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Event-based control has gained significant interest from the research community in recent years because it allows better resource utilization in networked control systems. In this thesis, we propose an architecture for offering event-based control as a service from the cloud, which not only improves resource utilization but also reduces the cost and setup time of large-scale industrial automation systems. Providing event-based control from the cloud, however, poses multiple research challenges. We address two of the main challenges, which are mitigating long and variable network delays and handling controller failures introduced because of moving the controller far away from the plant. We propose novel methods to solve the delay and failure problems and we show that these methods maintain the stability and performance of the control system. We implemented the proposed methods and deployed them on the Amazon cloud. Our results show that our delay mitigation technique can handle large communication delays up to several seconds with practically zero effect on the main performance metrics of the system. Moreover, the proposed fault tolerance approach can transparently handle controller failures even if the controlled system is thousands of miles away from its cloud controllers.

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“…Another application is on robots coordination as in [49]. The authors use a self-triggered control approach to remotely regulate the linear and angular velocity of four robots.…”

Section: Applications Of Event-based Controlmentioning

confidence: 99%

Event-based control as a cloud service

Abdelaal

Hegazy

Hefeeda

2017

2017 American Control Conference (ACC)

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“…In the network control system practical implementation, the time delays must be taken into account. Leveraging one of the main strengths of STC, namely that the next sampling instant is known in advance, we designed a channel delay compensation strategy inspired by [30].…”

Section: Remote Centre Task Schedulermentioning

confidence: 99%

“…Aperiodic control techniques employ information about the system state to decide when the control action must be updated. The main aperiodic control techniques are event-triggered (ETC) [18,19,20,21,22,23,24,25] and self-triggered control (STC) [26,27,28,29,30,31,32]. In ETC, the triggering mechanism is based on the constant measurement of the plant state.…”

Section: Introductionmentioning

confidence: 99%

Self-Triggered Formation Control of Nonholonomic Robots

Santos

Espinosa

Martinez-Rey

et al. 2019

Sensors

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In this paper, we report the design of an aperiodic remote formation controller applied to nonholonomic robots tracking nonlinear, trajectories using an external positioning sensor network. Our main objective is to reduce wireless communication with external sensors and robots while guaranteeing formation stability. Unlike most previous work in the field of aperiodic control, we design a self-triggered controller that only updates the control signal according to the variation of a Lyapunov function, without taking the measurement error into account. The controller is responsible for scheduling measurement requests to the sensor network and for computing and sending control signals to the robots. We design two triggering mechanisms: centralized, taking into account the formation state and decentralized, considering the individual state of each unit. We present a statistical analysis of simulation results, showing that our control solution significantly reduces the need for communication in comparison with periodic implementations, while preserving the desired tracking performance. To validate the proposal, we also perform experimental tests with robots remotely controlled by a mini PC through an IEEE 802.11g wireless network, in which robots pose is detected by a set of camera sensors connected to the same wireless network.

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“…Variable channel delays and the plant’s response time are tackled according to the methods described in our previous study [ 26 ].…”

Section: Problem Statementmentioning

confidence: 99%

Event-Based Sensing and Control for Remote Robot Guidance: An Experimental Case

Santos

Martinez-Rey

Espinosa

et al. 2017

Sensors

Self Cite

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This paper describes the theoretical and practical foundations for remote control of a mobile robot for nonlinear trajectory tracking using an external localisation sensor. It constitutes a classical networked control system, whereby event-based techniques for both control and state estimation contribute to efficient use of communications and reduce sensor activity. Measurement requests are dictated by an event-based state estimator by setting an upper bound to the estimation error covariance matrix. The rest of the time, state prediction is carried out with the Unscented transformation. This prediction method makes it possible to select the appropriate instants at which to perform actuations on the robot so that guidance performance does not degrade below a certain threshold. Ultimately, we obtained a combined event-based control and estimation solution that drastically reduces communication accesses. The magnitude of this reduction is set according to the tracking error margin of a P3-DX robot following a nonlinear trajectory, remotely controlled with a mini PC and whose pose is detected by a camera sensor.

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Aperiodic Linear Networked Control Considering Variable Channel Delays: Application to Robots Coordination

Cited by 14 publications

References 30 publications

Event-based control as a cloud service

Event-based control as a cloud service

Self-Triggered Formation Control of Nonholonomic Robots

Event-Based Sensing and Control for Remote Robot Guidance: An Experimental Case

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