Co‐design of stabilisation and transmission scheduling for wireless control systems

Lyu, Ling; Chen, Cailian; Hua, Cunqing; Zhu, Shanying; Guan, Xinping

doi:10.1049/iet-cta.2016.0871

Cited by 24 publications

(6 citation statements)

References 30 publications

(21 reference statements)

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“…It is thus clear that the third constraint in (20) matches the safety condition in (15). Hence, by the results in theorem 4.3 of a prior related work, 33 it may be concluded that the optimal solutions of the LP problem (20) define the optimal policies in (21).…”

Section: Theorem 5 Consider Problem 1 With Safety Constraint Of the mentioning

confidence: 69%

“…From the viewpoint of channel bandwidth utilization, several works have examined the stability and optimality issues in the codesign problem of NCS. By adopting an event‐triggered communication scheme, a codesign paradigm has been proposed in the works of Peng et al to simultaneously design an event‐triggered communication scheme and feedback controller that assure

{scriptH}_{\infty}

{scriptL}_{2}

performance of the NCS.…”

Section: Introductionmentioning

confidence: 99%

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Optimal codesign of industrial networked control systems with state‐dependent correlated fading channels

Tamba

2019

Intl J Robust & Nonlinear

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Summary This paper examines a codesign problem in industrial networked control systems (NCS) whereby physical systems are controlled over wireless fading channels. The considered wireless channels are assumed to be stochastically dependent on the physical states of moving machineries in the industrial working space. In this paper, the moving machineries are modeled as Markov decision processes whereas the characteristics of the correlated fading channels are modeled as a binary random process whose probability measure depends on both the physical states of moving machineries and the transmission power of communication channels. Under such a state‐dependent fading channel model, sufficient conditions to ensure the stochastic safety of the NCS are first derived. Using the derived safety conditions, a codesign problem is then formulated as a constrained joint optimization problem that seeks for optimal control and transmission power policies which simultaneously minimize an infinite time cost on both communication resource and control effort. This paper shows that such optimal policies can be obtained in a computationally efficient manner using convex programming methods. Simulation results of an autonomous forklift truck and a networked DC motor system are presented to illustrate the advantage and efficacy of the proposed codesign framework for industrial NCS.

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Section: Theorem 5 Consider Problem 1 With Safety Constraint Of the mentioning

confidence: 69%

{scriptH}_{\infty}

{scriptL}_{2}

performance of the NCS.…”

Section: Introductionmentioning

confidence: 99%

Optimal codesign of industrial networked control systems with state‐dependent correlated fading channels

Tamba

2019

Intl J Robust & Nonlinear

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“…A low QoS may result in QoP degradation, such as tracking errors. Therefore, various approaches have been proposed to codesign control and communication systems [25]- [27]. Studies of NCSs have considered the relationship between energy and delay using codesign techniques [28], [29].…”

Section: Introductionmentioning

confidence: 99%

Quality of Performance Aware Data Transmission for Energy-Efficient Networked Control

2021

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The energy consumption of network interfaces in networked control systems (NCSs) must be reduced for sustainability. The sleep mechanisms of energy-efficient network interfaces for networked motor control systems, in which controller and motor devices are connected by communication networks, have attracted much interest in recent years. They reduce the energy consumption of network interfaces by making the transmitters installed on the controller and motor devices enter a sleep period when no data are to be transmitted. In a conventional send-on-delta (SoD)-based sleep control method, the network interfaces decide when to enter the sleep period based on the variations of the control input and response values. Although this method effectively reduces the communication rate for reducing energy consumption, it does not explicitly consider the quality of performance (QoP) or control performance such as tracking errors. In high-precision motion control systems, ensuring a certain QoP level is crucial. This study proposes a QoPaware sleep control method for energy-efficient networked motor control systems to maintain the QoP at a certain level while operating the sleep mechanism. Here, the QoP is defined as the tracking error between the command and the response values. In the proposed method, network interfaces decide when to enter the sleep period based on the tracking error. Experimental results confirm that the QoP-aware sleep control method outperforms the SoD-based sleep control method in terms of the tracking errors (i.e., integral square error and steady-state error) at the expense of increased communication rates.INDEX TERMS Data transmission, energy-efficient network, motion control, networked control system, remote control, quality of performance.

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“…In [19], a controller and estimator for a helicopter that estimates and adapts to transmit a hybrid continuous-discrete observed data over a limited bandwidth of a communication channel developed in a Laboratory for analysis and architecture of the system (LAAS). Adaptive backstepping tracking with online updated parameters is also proposed in [9] and a backstepping control strategy is combined with artificial intelligence and machine learning to approximate the online uncertainties to improve robustness of the model [20]. An approximating method with radial basis function of neural networks (RBFNNs) that approximate unmodeled systems is detailed in [21].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Interval Type-2 Fuzzy Logic Control of a Three Degree-of-Freedom Helicopter

Chaoui

Yadav²,

Ahmadi

et al. 2020

Robotics

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This paper combines interval type-2 fuzzy logic with adaptive control theory for the control of a three degree-of-freedom (DOF) helicopter. This strategy yields robustness to various kinds of uncertainties and guaranteed stability of the closed-loop control system. Thus, precise trajectory tracking is maintained under various operational conditions with the presence of various types of uncertainties. Unlike other controllers, the proposed controller approximates the helicopter’s inverse dynamic model and assumes no a priori knowledge of the helicopter’s dynamics or parameters. The proposed controller is applied to a 3-DOF helicopter model and compared against three other controllers, i.e., PID control, adaptive control, and adaptive sliding-mode control. Numerical results show its high performance and robustness under the presence of uncertainties. To better assess the performance of the control system, two quantitative tracking performance metrics are introduced, i.e., the integral of the tracking errors and the integral of the control signals. Comparative numerical results reveal the superiority of the proposed method by achieving the highest tracking accuracy with the lowest control effort.

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Co‐design of stabilisation and transmission scheduling for wireless control systems

Cited by 24 publications

References 30 publications

Optimal codesign of industrial networked control systems with state‐dependent correlated fading channels

Optimal codesign of industrial networked control systems with state‐dependent correlated fading channels

Quality of Performance Aware Data Transmission for Energy-Efficient Networked Control

Adaptive Interval Type-2 Fuzzy Logic Control of a Three Degree-of-Freedom Helicopter

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