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Paper WeC10.1

Chen, Chih-Chung (Technische University Munich), Hirche, Sandra (Technische Universitaet Muenchen), Buss, Martin (Technische Universitaet Muenchen)

Stability, Stabilization and Experiments for Networked Control Systems with Random Time Delay

Scheduled for presentation during the Lecture Session "Switched Delay Systems" (WeC10), Wednesday, June 11, 2008, 16:00−16:20, Cascade I (A)

2008 American Control Conference, June 11-13, 2008, Westin Seattle Hotel, Seattle, Washington, USA

This information is tentative and subject to change. Compiled on April 18, 2014

Keywords Networked control systems, Markov processes, Delay systems

Abstract

It is well known that the stability and performance of a networked control system (NCS) are strongly affected by the transmission delay. The randomness of the transmission delay is an unavoidable property of the network communication, e.g. Ethernet. In order to cope with the random transmission delay and increase the control performance, a novel switching control approach for NCS is proposed. The random transmission delay is modelled by a Markov process. A controller, which is able to monitor the transmission delay and synchronously switches with the delay, is considered. The resulting closed-loop system is a Markovian jump linear system (MJLS) with random input delay. In this paper a delay-dependent stability condition for exponential mean square stability is derived by using a Lyapunov-Krasovskii functional. The controller design algorithm for a switching controller is considered. Experiments with the 3 degree-of-freedom (DoF) robotic manipulator ViSHaRD3 show the validity of the proposed approach. An alternative non-switching approach with buffering strategy at the controller side is considered. The experimental comparison with the non-switching counterpart indicates performance benefits for the proposed switching control approach.

 

 

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