Exploring the Different Delay Effects in Different Channels in Networked Control Systems

Zhao, Yun‐Bo; Liu, Shuai; Kang, Yu

doi:10.1007/978-981-10-6250-6_8

Cited by 1 publication

(1 citation statement)

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“…The solution fits in the field of Networked Control Systems (NCSs) [1,2,3,4], which is a prolific control area that addresses control scenarios where different devices share a common communication link. The use of a shared communication network introduces some advantages like cost reduction, reconfigurability, and ease of installation and maintenance, but also some drawbacks such as the possible occurrence of network-induced delays [5,6,7,8,9,10], packet dropouts [11,12,13], packet disorder [14,15,16], and network bandwidth constraints [17,18,19]. In this work, the drawbacks considered in the network are time-varying delays and packet disorder.…”

Section: Introductionmentioning

confidence: 99%

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

Cuenca

Zhan

Salt

et al. 2019

Sensors

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This work presents a novel remote control solution for an Autonomous Vehicle (AV), where the system structure is split into two sides. Both sides are assumed to be synchronized and linked through a communication network, which introduces time-varying delays and packet disorder. An Extended Kalman Filter (EKF) is used to cope with the non-linearities that appear in the global model of the AV. The EKF fuses the data provided by the sensing devices of the AV in order to estimate the AV state, reducing the noise effect. Additionally, the EKF includes an h-step-ahead state prediction stage, which, together with the consideration of a packet-based control strategy, enables facing the network-induced delays. Since the AV position is provided by a camera, which is a slow sensing device, a dual-rate controller is required to achieve certain desired (nominal) dynamic control performance. The use of a dual-rate control framework additionally enables saving network bandwidth and deals with packet disorder. As the path-tracking control algorithm, pure pursuit is used. Application results show that, despite existing communication problems and slow-rate measurements, the AV is able to track the desired path, keeping the nominal control performance.

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