HAL : hal-00519520, version 1

DOI : 10.1007/978-0-387-85594-3

Fiche détaillée

Récupérer au format BibTeX - EndNote - TEI - RefWorks -

Delay Differential Equations: Recent Advances and New Directions, Balachandran, Balakumar; Kalmár-Nagy, Tamás; Gilsinn, David E. (Eds.) (Ed.) (2009) 31-54

Networked control and observation for Master-Slave systems

Wenjuan Jiang 1, 2, Alexandre Kruszewski 3, Jean-Pierre Richard 3, 4, Armand Toguyeni 3

(2009)

This chapter concerns the design of a remote control loop constituted by a Slave system (with computing and energy limitations) and a Master computer, communicating via an Internet connection. In such a situation, the communication cost is reduced but the Quality of Service of the Internet connection is not guaranteed. In particular, when the Slave dynamics are expected to be fast enough, the network induces perturbations (delays, jitters, packet dropouts and sampling) that may damage the performance. Here, the proposed solution relies on a delay-dependent, state-feedback control, computed by the Master on the basis of an observer. This last estimates the present Slave's state from its past sampled outputs, despite the various delays. Then, the computing task is concentrated in the Master. The theoretical results are based on the Lyapunov-Krasovskii functional and the approach of LMI, which guarantee the stabilization performance with respect to the expected maximum delay of the connection. Two strategies are applied: one is a constant controller/observer gain strategy, which takes into account a fixed upperbound for the communication delay. The second strategy aims at improving the performance by adapting the gains to the available network QoS (here, with two possible upperbounds).

1 :	Grenoble Images Parole Signal Automatique (GIPSA-lab)
	CNRS : UMR5216 – Université Joseph Fourier - Grenoble I – Université Pierre-Mendès-France - Grenoble II – Université Stendhal - Grenoble III – Institut Polytechnique de Grenoble - Grenoble Institute of Technology
2 :	NeCS (INRIA Grenoble Rhône-Alpes / Gipsa-lab)
	CNRS : UMR5216 – INRIA – Gipsa-lab – Université Joseph Fourier - Grenoble I – Institut National Polytechnique de Grenoble (INPG)
3 :	Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS)
	CNRS : UMR8146 – Université Lille I - Sciences et technologies – Ecole Centrale de Lille
4 :	ALIEN (INRIA Saclay - Ile de France/Inria Lille - Nord Europe)
	INRIA – Polytechnique - X – Ecole Centrale de Lille – CNRS : UMR8146

Équipe de recherche : LAGIS-SYNER

Domaine

:

Sciences de l'ingénieur/Automatique / Robotique Informatique/Automatique

Mots Clés : NCS – Networked Control System – Remote control – Switching system – Exponential stability – Time delay system – LMI – Internet – UDP – Robot

hal-00519520, version 1

http://hal.archives-ouvertes.fr/hal-00519520

oai:hal.archives-ouvertes.fr:hal-00519520

Contributeur : Jean-Pierre Richard <>

Soumis le : Lundi 20 Septembre 2010, 15:40:41

Dernière modification le : Mercredi 19 Septembre 2012, 21:55:53